Mitsubishi Electric MELSEC Q Series Programming Manual page 303

6 POSITIONING CONTROL
[Cautions]
[Program]
(1) The number of control axes cannot be changed during control.
(2) The speed-switching point can be specified the absolute data method (VABS)
and incremental data method (VINC) by mixed use.
(3) The speed-switching point cannot be specified an address which change in travel
direction. If the travel direction change, the minor error (error code: 215) is stored
in the minor error storage register (D6+20n) for each axis and the rapid stop is
performed.
(4) It checks whether to be the end address within the stroke limit range at the start.
If it is positioning to outside the stroke limit range, the minor error (error code: 106)
is stored in the minor error storage register (D6+20n) for each axis and operation
does not start.
(5) If the travel value between speed-switching points is so short and it shifts to the
next speed-switching point during speed-switching control, the speed-switching
does not perform.
(6) The M-code from the previous point is retained in the point with which M-code is
not specified.
(7) Be sure to set the travel value between speed-switching points. (The torque limit
value is not correctly set by restricting the internal control processing, and the
servo errors might occur or a work might fall.)
Program for speed-switching is shown as the following conditions.
(1) System configuration
Speed-switching control of Axis 2 and Axis 3.
Q61P Q03UD Q172D
CPU CPU
AMP
Axis
1
M
Motion CPU control module
QX41 QY41P Q172D
LX
Start command (PX000)
AMP AMP AMP
Axis Axis Axis
2 3 4
M M
6 - 116
M