Mitsubishi Electric MELSEC-L02SCPU User Manual page 118

(3) Precautions
(a) Limitation of new speed value
If the new speed value exceeds the speed limit, the axis operates at the speed limit and an "Out of speed
range" warning (Axis 1 warning code: 1020) occurs. If the new speed value is less than the bias speed at start,
the same warning occurs and the bias speed at start is applied.
(b) Operation during processing
Even when the workpiece is moving at the command speed or JOG speed, speed change is not accepted if
calculations are in progress following the establishment of the execution command for Speed change
instruction (IPSPCHG1(P)).
Ex.
Timings at which speed change is permitted during position control
V
Remark
Change to a new speed occurs after completion of pulse output at the current speed.
Speed change instruction
execution command
116
Command is acceptable here.
Request
New speed
Operation
Pulse waveform
OFF
* The area does not change in this figure.
(The movement amount does not change.)
Previous Previous
speed speed
ON
Operation time
Pulse output is
not completed.
ON
t