Mitsubishi A1SD75P1-S3 User Manual page 312

9 MAIN POSITIONING CONTROL
Da. 1 O
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal
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(d) Speed changeover
(Refer to "
Pr.20
1) Standard speed changeover mode
(1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the machine will accelerate or decelerate
after reaching the positioning point set in the "positioning data
currently being executed" and the speed will change over to the
speed set in the "positioning data to carry out the next operation".
(2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed changeover will not be carried out if the command speeds
are the same.
Speed
V
changeover
Positioning
peration pattern
11
ON
[Y10, Y11, Y12]
OFF
ON
[X1, X2, X3]
OFF
ON
[X4, X5, X6] OFF
OFF
[X7, X8, X9]
Fig. 9.4 Operation for the standard speed changeover mode
(3) Speed changeover condition
If the movement amount is small in regard to the target speed, the
current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine
is accelerated/decelerated so that it nears the target speed.
If the movement amount will be exceeded when automatic
deceleration is required (Ex. Operation patterns "00", "01"), the
machine will immediately stop at the positioning address, and a
warning "insufficient movement amount" (warning code: 513) will
occur.
9 - 11
Speed changeover mode".)
Dwell time
11 11 01
ON
MELSEC-A
Dwell time
t
00