Command Speed Change During Positioning Operation - Mitsubishi Electric MELSEC iQ-F FX5 User Manual

Command speed change during positioning operation

This function changes operation speed during positioning operation.
• For positioning instructions, by specifying a word device as an operand that specifies the command speed (for the DSZR/
DDSZR instruction, the OPR speed and the creep speed) and changing the value, operation speed can be changed during
operation.
• For the table operation, by setting the positioning table data in devices and changing the operand value of the
corresponding control method, command speed can be changed during positioning operation.
The changed value is applied when the positioning instruction is executed at the next scan.
The following table shows applicable positioning instructions and control methods of the table operation.
Positioning instruction
Pulse Y output (PLSY/DPLSY) instruction
Mechanical OPR (DSZR/DDSZR) instruction
Relative positioning (DRVI/DDRVI) instruction
Absolute positioning (DRVA/DDRVA) instruction
Interrupt 1-speed positioning (DVIT/DDVIT) instruction
Variable speed operation (PLSV/DPLSV) instruction
*1
Table operation (TBL /DRVTBL/DRVMUL) instruction
*1 High-speed pulse input/output module is not supported.
*2 A change in the command speed after the zero signal is detected is applied when the positioning instruction is next driven again.
*3 A change in the command speed after the interrupt input signal 1 is detected is applied when the positioning instruction is next driven
again.
Precautions
• When command speed is lower than bias speed, the bias speed is applied. The PLSY/DPLSY instruction, PLSV/DPLSV
instruction and the table operation instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable
Speed Operation] can be changed to lower than the bias speed.).
• Do not change command speed to 200 Kpps or more in pulse.
• If the creep speed is changed to a speed equal to or faster than the OPR speed during operation at creep speed by the
DSZR/DDSZR instruction, the speed is changed to the OPR speed.
• For instruction or control method other than the PLSY/DPLSY instruction, PLSV/DPLSV instruction and the table operation
instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable Speed Operation]), do not set 0
for the command speed. The operation ends with an error.
• If the command speed is changed to 0 during PLSY/DPLSY instruction operation, the operation does not end with error but
it immediate stops. As long as the drive contact is on, changing the command speed restarts pulse output. However, if the
command speed is changed to negative value during operation, the operation ends with an error.
• If the command speed of the PLSV/DPLSV instruction or the table operation instruction (control method: [4: Variable Speed
Operation] or [5: Table Transition Variable Speed Operation]) is changed to 0 during operation, the operation does not end
with error but it decelerates to a stop. As long as the drive contact is on, changing the command speed restarts pulse
output.
• If the speed is changed to reverse the rotation direction, pulses are output inversely after deceleration stop. The waiting
time for the pulse reverse after deceleration stop is "1 ms + scan time". Set the new command speed after confirming it
does not affect the system.
• When operation speed is changed for acceleration with small remaining travel distance, the speed is increased to a speed
at which deceleration stop is still possible (the operation is not performed at the changed speed), then decelerates.
*1
*2
*3
Table operation control method
• 1: 1 Speed Positioning (Relative Address Specification)
• 2: 1 Speed Positioning (Absolute Address Specification)
*3
• 3: Interrupt 1 Speed Positioning
• 4: Variable Speed Operation
• 5: Table Transition Variable Speed Operation
• 6: Interrupt Stop (Relative Address Specification)
• 7: Interrupt Stop (Absolute Address Specification)
3 POSITIONING CONTROL FUNCTION
*1
*3
*3
37
3.4 Auxiliary Function
3