Mitsubishi Electric Melsec Q Series Programming Manual page 303

5 OPERATION CONTROL PROGRAMS
[Controls]
(9) By specifying a negative speed and making a speed change request during the
start, allows the axis to start deceleration at that point and return in the opposite
direction upon completion of deceleration. The following operations by the servo
instruction are shown below.
Control mode
Linear control
Circular interpolation control
Fixed-pitch feed
Constant-speed control
Speed control ( )
Position follow-up control
Speed control with fixed
position stop
JOG operation
(a) If a speed change is made to a negative speed, control is executed with the
control mode during the start as indicated in the above table.
(b) The returning command speed is the absolute value of a new speed.
(c) When the axis is waiting at the return position
1) Signal states
• [St.345] Command generation axis
start accept flag (M9810+20n) ............................... ON (unchanged from
• [St.340] Command generation axis
positioning start complete (M9800+20n) ............... ON (unchanged from
• [St.341] Command generation axis
positioning complete (M9801+20n) ....................... OFF
• [St.342] Command generation axis
command in-position (M9803+20n)....................... OFF
• [St.347] Command generation axis
speed change "0" accepting flag (M9812+20n) .... ON
2) Make a speed change to a positive speed for a restart.
3) Turn on the stop command to end the positioning.
4) A negative speed change made again will be ignored.
Servo instruction
ABS 1 INC 1
ABS 2 INC 2
ABS 3 INC 3
ABS 4 INC 4
ABS circular INC circular
FEED 1 FEED 2 FEED
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
PFSTART
PVF PVR
(Note): Minor error [305] : The setting speed is outside the range of 0 to speed limit value.
5 - 80
Operation
On completion of deceleration, the axis reverses its
moving direction, returns to the positioning starting
point at the absolute value of the specified speed,
and stops (waits) there.
For circular interpolation, the axis returns in the
circular path.
3
On completion of deceleration, the axis reverses its
moving direction, returns to the preceding point at
the absolute value of the specified speed, and stops
(waits) there.
On completion of deceleration, the axis reverses its
moving direction at the absolute value of the
specified speed.
The axis does not stop until a stop instruction is
input.
The axis cannot return.
The speed change request is regarded as a normal
speed change request.
(Note)
Minor error [305] will occur and the axis will be
controlled at the speed limit value.
before execution of
CHGVS instruction)
before execution of
CHGVS instruction)