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4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
• The specified speed that may be set at (S2) is within the following range.
*1 When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is (10
-2
[degree/min]).
• The speed changed by CHGV instruction is effective only on the servo program during starting.
• Speed change is not executed for the axis specified with (S1) during deceleration stop.
• Speed change is not executed for the axis specified with (S1) during speed-torque control.
• Speed change is not executed for the axis specified with (S1) during machine control (machine JOG operation, machine
program operation).
• Acceleration/deceleration time at speed change can be changed by setting the acceleration/deceleration time change
parameter of the axis specified with (S1). Refer to the following for acceleration/deceleration time change parameter and
acceleration/deceleration time change function.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
• By specifying a negative speed and making a speed change request during the start, allows the axis to start deceleration at
that point and return in the opposite direction upon completion of deceleration. The following operations by the servo
instruction are shown below.
Requested operation Setting range
mm inch degree pulse
Speed change request 0 to 600000000
(10
-2
[mm/min])
0 to 600000000
(10
-3
[inch/min])
0 to 2147483647
(10
-3
[degree/min])
*1
0 to 2147483647
[pulse/s]
Return request -1 to -600000000
(10
-2
[mm/min])
-1 to -600000000
(10
-3
[inch/min])
-1 to -2147483647
(10
-3
[degree/min])
*1
-1 to -2147483647
[pulse/s]
Control mode Servo instruction Operation
Linear control On completion of deceleration, the axis reverses its moving direction, returns to the
positioning starting point at the absolute value of the specified speed, and stops
(waits) there. For circular interpolation, the axis returns in the circular path.
Circular interpolation
control
Fixed-pitch feed
Continuous trajectory
control
On completion of deceleration, the axis reverses its moving direction, returns to the
preceding point at the absolute value of the specified speed, and stops (waits) there.
Speed control () On completion of deceleration, the axis reverses its moving direction at the absolute
value of the specified speed.
The axis does not stop until a stop instruction is input.
Speed control ()
Speed/position switching
control
The axis cannot return.
The speed change request is regarded as a normal speed change request.
Warning (error code: 0991H) will occur and the axis will be controlled at the speed
limit value.
Position follow-up control
Speed control with fixed
position stop
JOG operation
High-speed oscillation A speed change cannot be made. Warning (error code: 09EEH) will occur.
Home position return A speed change cannot be made. Warning (error code: 09EDH) will occur.
ABS-1
ABS-2 ABS-3
ABS-4
INC-4
INC-3INC-2
INC-1
ABS circular INC circular
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VVF VVR
VPF VPR VPSTART
OSC
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