Mitsubishi Electric Q172CPU Programming Manual page 134

6 DRIVE MODULE
[Operation at the constant-speed control]
[ Servo program ]
CPSTART2
Axis 1
Axis 2
Speed 1000
ABS-2
P1
Axis 1, 10000
Axis 2,
ABS-2
P2
Axis 1, 10000
Axis 2, 10000
ABS-2
P3
Axis 1,
Axis 2,
CPEND
Stat request
Start accept flag
M2001+n
Speed change request
CHGV
Change speed
Combined-speed
Command in-position
(OFF)
Speed change "0"
accepting flag
The operation when a reverse return is requested for the constant-speed control is
shown below.
[Locus]
Axis 2
0
20000
Starting point
10000
Return operation to point P1
If a speed change to a negative speed is made during execution of positioning to
P2 as shown above, the axis returns to P1 along the program specified locus and
waits at P1.
P3
P2
Negative speed change
P1
Axis 1
-1000
6 - 9
1000
Waiting at point P1