Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual page 71

■Switching speed (Refer to [Pr.19] Speed switching mode.)
The following two modes are provided to change the speed.
Speed switching mode
Standard switching
Front-loading switching
Speed
Switch the speed when executing
the next positioning data.
n: Positioning n
data No.
For standard switching
• Standard speed switching mode
1) If the command speed of the positioning data currently being executed and that of the next positioning data differ, the machine will accelerate or decelerate
after reaching the positioning point set in the positioning data currently being executed, and the speed will change over to the speed set in the next
positioning data.
2) The parameters used in the acceleration/deceleration processing to the command speed set in the next positioning data to be executed are those of the
next positioning data to be executed.
If the command speeds are the same, the speed changed will not be performed.
Positioning start signal [Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
Start complete signal
[XC, XD, XE, XF]
BUSY signal
[X14, X15, X16, X17]
Positioning complete signal
3) Speed switching condition
If the movement amount is small to the target speed and may not reach the target speed even if the acceleration/deceleration is performed, the machine is
accelerated or decelerated to get close to the target speed.
If the movement amount will be exceeded when the automatic deceleration needs to be performed (such as when the operation pattern is 00 or 01), the
machine will immediately stop at the specified positioning address, and Insufficient movement amount (Warning code: 0998H) occurs.
Speed
t
n + 1
Speed
V
switching
Positioning
Da. 1 Operation pattern
11
ON
OFF
ON
OFF
ON
OFF
OFF
Description
Switches the speed when executing the next positioning data.
Switches the speed at the end of the positioning data currently being
executed.
Positioning is started at the specified speed
for the next positioning data execution.
n n + 1
For front-loading switching
Dwell time
11 11 01
ON
3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
t
Dwell time
00
3
t
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