Mitsubishi Electric MELSEC-LD77MS2 User Manual page 732

[1] Control details
The following drawing shows the operation during a speed change.
Md. 40 In speed change processing flag
[2] Precautions during control
(1) Control is carried out as follows at the speed change during continuous path
control.
a) When no speed designation (current speed) is provided in the next
positioning data:
b) When a speed designation is provided in the next positioning data:
Cd. 14 New speed value
Designated speed in P2
Designated speed in P1
Fig. 13.21 Speed change during continuous path control
(2) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
Speed changes to V2.
V
V1
Fig. 13.20 Speed change operation
The next positioning data is controlled at the "
The next positioning data is controlled at its "
Positioning control
P1
Speed change
command
13 - 42
Chapter 13 Control Sub Functions
Speed changes to V3.
Operation during
positioning by V1.
V2
V3
Next control
P2
[a] When no speed designation
(current speed) is provided.
[b] When a speed designation
is provided.
t
New speed value
Cd.14
Command speed
Da.8
".
".