Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 466

• When "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control, speed
is not changed by override ratio if the override ratio is changed during deceleration for a speed change at a pass point. For
this case, from the pass point, speed is changed to the speed calculated by "command speed of the next point  override
ratio".
P3 command speed override ratio
P1 and P2 command speed
P3 command speed
Continuous trajectory control
pass point
[Rq.1122] Speed switching point
specified flag (R: M30040/Q: M2040)
Override ratio setting device
When the override ratio is changed during deceleration of the speed change to P3 (section (1)), the speed is not changed.
Speed is changed to the speed of "P3 command speed
• In machine control, the override ratio setting of the machine configuration axis with the lowest axis No. is valid.
Ex.
For the following machine configuration axes
The override ratio setting of axis 1 is valid.
Item
Joint axis JNT1
Joint axis JNT2
Joint axis JNT3
• In sequential coordinate command control of machine program operation, override is invalid.
Combining with speed change request (CHGV)
The following describes the operation for when speed is changed with Motion dedicated functions (CHGV, CHGVS), or Motion
dedicated PLC instructions (M(P).CHGV/D(P).CHGV) when using override.
• Operation is at the speed of "speed change request (CHGV) speed  override ratio". However, when the speed of "speed
change request (CHGV) speed  override ratio" exceeds the speed limit value, a warning (error code: 0991H) occurs, and
the feed speed is clamped at the speed limit value.
• When the speed after "speed change request (CHGV) speed  override ratio" is less than bias speed at start, a warning
(error code: 0A5DH) occurs and speed is not changed.
• For continuous trajectory control, "speed change request (CHGV) speed > command speed in servo program" is permitted.
(For continuous trajectory control where override is not used, the command speed in servo program cannot not be
exceeded.)
• For continuous trajectory control, speed is maintained unless the command speed is specified at a point. For points where
command speed is specified, speed change request (CHGV) is cancelled, and the speed becomes "program command
speed  override ratio".
• When the override ratio is changed during acceleration or deceleration for a speed change request (CHGV), speed is
changed to the speed of "speed change request (CHGV) speed  override ratio" from the point where the override ratio was
changed.
7 AUXILIARY AND APPLIED FUNCTIONS
464
7.8 Override Function
V
P1 P2
ON
OFF
1000 3000
(1)
override ratio" from the beginning of P3.
Machine configuration axis
Axis 3
Axis 1
Axis 2
t
P3