Mitsubishi Electric MELSEC-Q Series - Page 490

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7 AUXILIARY AND APPLIED FUNCTIONS
(h) During a positioning operation where acceleration/deceleration time is
changed, and the deceleration distance to the final positioning address for
the output speed is not enough, a minor error (error code: 211) occurs and
the operation immediately stops at the final positioning address. Execute a
speed change at a position where enough movement amount until the stop
position is ensured.
(i) If acceleration/deceleration time is changed during speed control in speed-
position switching (VPF/VPR), control continues at the
acceleration/deceleration times changed during speed control even after
switching from speed to position control. To control with the
acceleration/deceleration time of the start after switching to position control,
execute speed change again.
(j) If acceleration/deceleration time is changed during speed switching control
(VSTART), constant-speed control (CPSTART), control at the
"acceleration/deceleration time after change" occurs only between the points
where change was executed. From the next point onward, control at the
"acceleration/deceleration time at start" set beforehand occurs.
If the speed switching point specified flag (M2040) is ON in constant-speed
control (CPSTART), speed change is executed up to the speed switching
point at the "acceleration/deceleration time after change". (If the
acceleration/deceleration time is changed to a large value, speed change
may not be completed up to the speed switching point).
t
V
10 20 30
02000
0500
75000
100000
[pulse/s]
150000
200000
50000
75000
Control at deceleration time after change
OFF
ON
OFF
ON
Acceleration/deceleration
time change enable device
New acceleration time
value device
New deceleration time
value device
Speed change request
(CHGV)
Change speed
M-code (D13+20n)
Speed switching point
specified flag (M2040)
ON
Control at deceleration
time at start
[K101]
CPSTART-1
Axis
Speed
S.R.
INC-1
Axis
Travel
Speed
M-code
INC-1
Axis
Travel
Speed
M-code
INC-1
Axis
Travel
Speed
M-code
CPEND
pulse/s
pulse/s
ms
ms
pulse
pulse/s
pulse
pulse/s
pulse
pulse/s
1
1500000
2000000
1000
1000
1
800000
100000
10
1
1000000
150000
20
1
600000
50000
30