Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 83

[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)
This flag is used when the speed change is specified at the pass point of the continuous trajectory control.
• By turning "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" on before the starting of the continuous
trajectory control (before the servo program is started), control with the change speed can be executed from the first of
pass point.
Setting value
ON
OFF
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" OFF
V
Pass points of the
continuous trajectory
control (When the speed
change is specified with P3.)
[Rq.1122] Speed switching
OFF
point specified flag
(R: M30040/Q: M2040)
Servo program start
[St.1040] Start accept flag OFF
(R: M30080+n/Q: M2001+n)
• When using advanced S-curve acceleration/deceleration and starting continuous trajectory control with "[Rq.1122] Speed
switching point specified flag (R: M30040/Q: M2040)" turned ON, the override function is disabled.
[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)
This command is used to enable servo operation. Refer to the following for details of the servo ON/OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
Servo operation Description
Enabled "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns on while the "[Rq.1155] Servo OFF command (R:
M34495+32n/Q: M3215+20n)" is off and there is no servo error.
Disable • "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is off
• The "[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)" is on
• Servo error state
• Forced stop
Execute "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)": OFF after positioning completion because it
becomes invalid during positioning.
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
[St.1045] All axes servo ON accept flag
(R: M30049/Q: M2049)
*1
Each axis servo ready state
*1 Refer to the "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" for details. (Page 35 [St.1075] Servo ready (R: M32415+32n/
Q: M2415+20n))
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns ON, it is not turned off even if the
Motion CPU is set in the STOP state.
"[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns OFF by the forced stop of Motion CPU.
Description
Speed has been changed to the specified speed at the pass point of the continuous trajectory control.
Speed is changed to the specified speed from the pass point of the continuous trajectory control.
t
P1 P2 P3 P4
ON
ON
OFF
ON
OFF
ON
OFF
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" ON
V
Pass points of the
continuous trajectory
control (When the speed
change is specified with P3.)
ON
[Rq.1122] Speed switching
point specified flag OFF
(R: M30040/Q: M2040)
Servo program start
[St.1040] Start accept flag OFF
(R: M30080+n/Q: M2001+n)
2 POSITIONING DEDICATED SIGNALS
t
P1 P2 P3 P4
ON
2.1 Internal Relays
2
81