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Chapter 13 Control Sub Functions
[1] Control details
The following drawing shows the operation during a speed change.
V
t
V1
V2
V3
In speed change
processing flag
Md.40
Speed changes to V2.
Speed changes to V3.
Operation during positioning by V1.
10001
Fig. 13.22 Speed change operation
[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:
The next positioning data is controlled at the "[Cd.14] New speed
value".
b) When a speed designation is provided in the next positioning data:
The next positioning data is controlled at its "[Da.8] Command
speed".
Positioning control
P1
Designated speed in P2
Cd. 14 New speed value
Next control
P2
Speed change
command
Designated speed in P1
[a] When no speed designation
(current speed) is provided.
[b] When a speed designation
is provided.
Fig. 13.23 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.
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