Operation When The Speed Limit Value Is Exceeded - Mitsubishi Electric MELSEC iQ-R Series User Manual

Operation when the speed limit value is exceeded

The operation when specifying the speed exceeding the speed limit value differs depending on whether it is single axis control
or interpolation control.
For single axis operation
• At start
If the set velocity at start exceeds the speed limit value (AxisName.Pr.VelocityLimit_Positive for the positive direction and
AxisName.Pr.VelocityLimit_Negative for the negative direction) of each axis, the error "Speed Limit Value Over" (error code:
1A07H) will occur, and the axis will not start.
• During control
If the set velocity during control exceeds the speed limit value (AxisName.Pr.VelocityLimit_Positive for the positive direction or
AxisName.Pr.VelocityLimit_Negative for the negative direction) of each axis, the operation will follow
AxisName.Pr.VelocityLimit_OverOperation.
• At speed change
If the speed exceeding the speed limit value of each axis is specified by re-input of Execute and ContinuousUpdate, the
warning "Speed Limit Value Over Warning" (warning code: 0D03H) will occur, and the operation continues at the speed before
change.
For interpolation control
For the speed limit at the interpolation control, AxisName.Pr.VelocityLimit_Positive, AxisName.Pr.VelocityLimit_Negative,
AxesGroupName.Pr.VelocityLimit are used.
The operation when the target velocity exceeds the speed limit value is as follows.
• At start
Variable to be used Linear interpolation control
Vector speed
specification
AxisName.Pr.VelocityLimit_P Speed is not restricted.
ositive
or
AxisName.Pr.VelocityLimit_N
*1
egative
AxesGroupName.Pr.Velocity Speed is restricted for vector
Limit speed.
• During control
Variable to be used Linear interpolation control
Vector speed
specification
AxisName.Pr.VelocityLimit_P Speed is restricted for set velocity of each configuration axis. When the speed limit value is exceeded, it follows
ositive AxisName.Pr.VelocityLimit_
or OverOperation.
AxisName.Pr.VelocityLimit_N
*1
egative
AxesGroupName.Pr.Velocity Speed is not restricted.
Limit
Long axis speed
specification
Long axis speed is restricted
by speed limit value of long
*2
axis.
Speed is not restricted.
*2
Long axis speed
specification
Circular interpolation
control
Reference axis speed
specification
Reference axis speed is Speed is not restricted.
restricted by speed limit
*2
value of reference axis.
Speed is not restricted. Speed is restricted for vector
speed.
Circular interpolation
control
Reference axis speed
specification
9 RELEVANT FUNCTIONS TO VELOCITY
9.2 Speed Limit
9
*2
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