Mitsubishi Electric Melsec Q Series Programming Manual page 299

5 OPERATION CONTROL PROGRAMS
[Program examples]
[Servo program ]
CPSTART2
Axis 1
Axis 2
Speed
ABS-2
P1
Axis1,
Axis2,
ABS-2
P2
Axis1,
Axis2,
ABS-2
P3
Axis1,
Axis2,
CPEND
Start request
Start accept flag
(M2001+n)
Speed change
request CHGV
New speed
Vector speed
Command in-position
(OFF)
Speed change "0"
accepting flag
(1) Program which changes the positioning speed of axis 2
CHGV(K2,K10)
(2) Return program which changes the positioning speed of axis 1 to a negative value
CHGV(K1,K 1000)
The following operation will be performed when a return request is made in
constant-speed control.
[Locus]
Axis2
1000
10000
0
10000
10000
Starting point
20000
10000
Return operation to point
If a speed change to a negative speed is made during execution of positioning to
P2 as shown above, the axis returns to P1 along the program specified locus and
waits at P1.
P2 P3
P1 Axis1
-1000
5 - 76
Negative speed change
1000
Waiting at P1