5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 − 12
[Error Details]
(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 change speed (minus) 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.
[Example of Operation during Constant-Speed Control]
The following describes the operations to be performed for a retracing request
made during constant-speed control.
Start request SVST
Start recption M200n
Speed change request CHGV
Change speed
Combined speed
Command in-position
(OFF)
Speed change "0"
receive in progress flag
-1000 1000
Return operation to point P1
Stand by at point P1
P1
Starting point
Axis 1
Axis 2
Negative speed change
P2 P3
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
CPEND
P1
P2
P3
[ Servo program ] [Locus]
When a minus 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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