Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 237

Cautions
• Bias speed at start is valid regardless of motor type. Set "0" when using the motor other than the stepping motor.
Otherwise, it may cause vibration or impact even though a warning does not occur.
• Set bias speed at start according to the specification of stepping motor driver. If the setting is outside the range, it may
cause the following troubles by rapid speed change or overload.
• Stepping motor steps out.
• An error occurs in the stepping motor driver.
• Set the bias speed at start to a value not more than the speed limit value. If the bias speed at start is set to a value larger
than the speed limit value, a warning (error code: 0A4CH) occurs, and the bias speed at start is "0"
• The setting range for the command speed is "bias speed at start to speed limit value". When the command speed is out of
range by starting a servo program or executing a speed change instruction (M(P).CHGV/D(P).CHGV,CHGV), a warning
(error code: 0A4CH), or warning (error code: 0A5DH) occurs and speed change is not performed. When bias speed at start
is other than "0", a warning (error code: 0A5DH) occurs when a speed change to "0" is performed.
• When FIN acceleration/deceleration and advanced S-curve acceleration/deceleration methods are used with bias speed at
start, a warning (error code: 0A4DH) occurs, and the bias speed at start is "0".
• For servo programs where speed specification at a pass point is possible (CPSTART), if the speed at the pass point is set
to less than the bias speed at start, a warning (error code: 0A5AH) occurs, and the bias speed at start is "0" for the points
afterwards.
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
3
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