Mitsubishi Electric QD77MS - Restarting Speed after Speed Change Made During Position Control; Speed Change at New Speed Value 0

13 - 44
Chapter 13 Control Sub Functions
(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends
on the "[Cd.14] New speed value".
V
t
Speed change
command
Stop command
Restarting
command
Cd. 14 New speed value
Command speed
Da. 8
Fig. 13.22 Restarting speed after speed change made during position control
(4) When the speed is changed by setting "[Cd.14] New speed value" to "0", the
operation is carried out as follows.

When "[Cd.15] Speed change request" is turned ON, the speed change 0
flag ([Md.31] Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)

The axis stops, but "[Md.26] Axis operation status" does not change, and
the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and "[Md.26] Axis operation status" will change to
"stopped".)
In this case, setting the "[Cd.14] New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ([Md.31] Status: b10), and enable
continued operation.
[QD77MS4 operation example]
( Md. 31 status: b10)
Positioning start signal
BUSY signal
Cd. 14 New speed value
Cd. 15 Speed change request
Positioning operation
1000
0
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Speed change 0 flag
[Y10, Y11, Y12, Y13]
[XC,XD,XE,XF]
(Note): Refer to Section 3.3 for input/output signal of QD77MS16.
Fig. 13.23 Speed change at new speed value "0"