Mitsubishi Electric A173UHCPU Programming Manual page 241

7. POSITIONING CONTROL
2) If CHGV changed speed < servo program set speed
The speed changed by the CHGV instructions is valid.
V
Speed change due to commanded speed in servo program
(speed set by the CHGV instructions is valid)
Speed change by CHGV instructions
(no change as speed exceeds servo program commanded speed)
(5) An overrun occurs if the distance remaining to the final positioning point when
the final positioning point is detected is less than the deceleration distance at
the positioning speed (commanded speed).
If an overrun occurs, the error code 211 (overrun error) is stored in the minor
error register for the axis.
(6) A maximum of 768 steps (approximately 100 points) can be designated in a
constant-speed control program.
(7) If positioning moves outside the stroke limit range after control is started, the
error code 106 is stored in the minor error register for the axis and a
deceleration stop occurs.
(8) The minimum travel value between constant-speed control pass points is
determined as follows:
Commanded speed × 0.02 < Travel distance (PLS)
Positioning speed drops if the distance between pass points is extremely short.
Example
If pass points are set at 1-PULSE intervals, the positioning speed becomes
280 pps, regardless of the commanded speed setting.
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