Mitsubishi Electric MELSEC-LD77MS2 User Manual page 175

Speed switching mode
Pr.19
Set whether to switch the speed switching mode with the standard switching or
front-loading switching mode.
0 : Standard switching .............. Switch the speed when executing the next
1 : Front-loading switching ........ The speed switches at the end of the positioning
Velocity
n: Positioning
data No.
Interpolation speed designation method
Pr.20
When carrying out linear interpolation/circular interpolation, set whether to
designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
1: Reference axis speed ........... The axis speed set for the reference axis is
X axis
Designate composite speed
Calculated by Simple Motion module
<When composite speed is designated>
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error "Interpolation mode error"
(error code: 523) will occur when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always. If you specify the reference axis speed for a positioning operation that
involves the circular interpolation, the error "Interpolation mode error" (error code:
523) will occur when the positioning operation is attempted.
positioning data.
data currently being executed.
Switch the speed when
executing the next positioning data
n n+1
<For standard switching>
designated, and the speed for each axis is
calculated by the Simple Motion module.
designated, and the speed for the other axis
carrying out interpolation is calculated by the
Simple Motion module.
Designate speed
for reference axis
Y axis
<When reference axis speed is designated>
5 - 35
Chapter 5 Data Used for Positioning Control
Velocity
The next positioning data starts
positioning at the designated speed
t
n
<For front-loading switching>
X axis
Calculated by Simple Motion module
t
n+1
Y axis