Mitsubishi Electric SV13/22 Programming Manual page 129

5. SEQUENCE PROGRAMS AND SFC PROGRAMS
[Error Details]
[Example of Operation during Constant Speed Control]
P1
P2
P3
Start request SVST
Start recption M200n
Speed change request
CHGV
Changed speed
Combined speed
Command in-position
(OFF)
Speed change "0"
receive in progress flag
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(1) While start is attempted in the control mode allowing retracing, a minor error
305 is returned and retracing is controlled according to a speed limit value so
long as the absolute value of a negative change speed exceeds the speed limit
value.
(2) In constant speed control, retracing is controlled according to a speed
designated in the program (speed clamp control in speed change during
constant speed control) so long as the absolute value of a change speed
(minus) exceeds the speed designated in the servo program. In this case, no
error is returned.
(3) No control takes place after automatic deceleration starts. A minor error 303 is
returned.
The following describes the operations to be performed for a retracing request
made during constant speed control.
[Servo program]
CPSTART2
Axis 1
Axis 2
Speed 1000
ABS-2
Axis 1 10000
Axis 2 0
ABS-2
Axis 1 10000
Axis 2 10000
ABS-2
Axis 1 20000
Axis 2 10000
Starting point
CPEND
Return operation to point P1
When a negative speed change is attempted during positioning to P2, retracing is
performed up to P1 along the track designated in the program, then processing is
suspended there.
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[Track]
Axis 2
P2
P1
-1000
5 − 21
P3
Negative speed change
Axis 1
1000
Stand by at point P1