Mitsubishi Electric MELSEC iQ-R Series User Manual page 355

When an operation is reversed by changing the target position/movement distance
When an operation is reversed by changing the target position/movement distance, the axis is controlled according to the
selection when having reverse rotation permission selection (Options bit5).
■When the reverse rotation is allowed
When "0: Allow" is set to the reverse rotation permission selection (Options bit5), a deceleration stop is performed once. After
the deceleration stop is completed, operation is started to the changed target position.
11
Position change
AxisName.Md.
SetVelocity
Target position after change Target position at start
Reversal operation
■When the reverse rotation is not allowed
When "1: Not allow" is set to the reverse rotation permission selection (Options bit5), a deceleration stop is performed
regardless of the AxisName.Pr.OverrunOperation setting. When the target position/movement distance is changed, the error
"Overrun Error" (error code: 1A7EH) is detected.
Position change
AxisName.Md.
Overrun detection
SetVelocity
Target position at start
Target position at change
11 CONTROL SUB FUNCTIONS
353
11.3 Input Variable Change in Execution