Mitsubishi Electric MELSEC-L02SCPU User Manual page 119

Cpu module, built-in i/o function
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(c) Speed change during position control
If the target position is reached during the processing for speed change in the case of a speed change during
position control or position control of speed/position switching control, a "Speed change not possible" warning
(Axis 1 warning code: 1022) occurs and the speed is not changed.
(d) Target position change and speed change
If the Target position change instruction (IPTPCHG1(P)) is accepted simultaneously as the execution
command for Speed change instruction (IPSPCHG1(P)) is established, a "Speed change not possible" warning
(Axis 1 warning code: 1022) generates and the Speed change instruction (IPSPCHG1(P)) is cancelled. (For
example, if the execution command for Target position change instruction (IPTPCHG1(P)) is established during
acceleration, the operation switches to a constant speed and the target position change is accepted. If the
execution command for Speed change instruction (IPSPCHG1(P)) is established at this timing, it means that
the execution commands for both instructions are established simultaneously.) ( Page 124, Section 7.10.6)
(e) Speed change and deceleration stop time
When the speed is changed during position control or position control of speed/position switching control in the
following condition, positioning completes before the stop speed reaches the bias speed at start.
• The deceleration stop time is longer than the remaining movement amount at the end of speed change
and thus the constant-speed part of operation cannot be performed after the speed has changed.
Speed change instruction
OFF
execution command
V
Operation
processing
ACC/DEC time at
speed change
DEC/STOP time at
speed change
ON
CHAPTER 7 POSITIONING FUNCTION
Movement before speed change (dotted line)
New target
speed
Movement after speed change (solid line)
Positioning completed before reaching
the bias speed at start
7
Bias speed
at start
t
117

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