Mitsubishi Electric R16MTCPU Programming Manual page 209

■Controls
• If a speed change is made to a negative speed, control is executed with the control mode during the start as indicated in the
above table.
• The returning command speed is the absolute value of a new speed.
• When the axis is waiting at the return position.
• Signal states
Signal name
[St.345] Command generation axis start accept flag
(R: M36750+32n/Q: M9810+20n)
[St.340] Command generation axis positioning start complete
(R: M36560+32n/Q: M9800+20n)
[St.341] Command generation axis positioning complete
(R: M36561+32n/Q: M9801+20n)
[St.342] Command generation axis command in-position
(R: M36563+32n/Q: M9803+20n)
[St.347] Command generation axis speed change "0" accepting flag
(R: M36572+32n/Q: M9812+20n)
• Make a speed change to a positive speed for a restart.
• Turn on the stop command to end the positioning.
• A negative speed change made again will be ignored.
• While the axis is reversion in the speed control mode
• Make a speed change to a positive speed to change the travel direction again.
• Turn ON the stop command to make a stop.
• A speed change is made in the opposite direction if a negative speed change is made again.
• A speed change to a negative speed will not be made for the axis which set the stroke limit as invalid.
Operation error
An operation error will occur and a speed change will not be made if:
• The specified axis No. of (S1) is outside the range.
• (S2) is an indirectly specified device and its device No. is outside the range.
A warning will occur and a speed change will not be made if:
• A speed change to a negative speed was made for the axis which set the stroke limit as invalid (warning (error code:
09EFH)).
If the speed change is executed for the axis specified with (S1) during deceleration, the speed change is
ignored. An error will not occur in this case.
A warning will occur and the axis to be controlled at the speed limit value if:
• The absolute value of the speed specified with (S2) is greater than the speed limit value (warning (error code: 0991H)).
If the absolute value of a negative new speed is higher than the speed specified with the servo program during
continuous trajectory control, return control is exercised at the speed specified in the program (speed clamp
control for a speed change during continuous trajectory control). At this time, an error will not occur.
Status
ON (unchanged from before execution of CHGVS instruction)
ON (unchanged from before execution of CHGVS instruction)
OFF
OFF
ON
4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
4
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