8 CONTROL SUB FUNCTIONS
8.5 Functions to Change the Control Details
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8
Precautions during control
• At the speed change during continuous path control, 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". Also, when a speed designation
is provided in the next positioning data, the next positioning data is controlled at its "[Da.8] Command speed".
• 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.
• 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".
• 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.
[Cd.14] New speed value
Designated speed in P2
Designated speed in P1
Positioning control
P1
Next control
P2
[a] When no speed designation (current speed) is provided.
[b] When a speed designation is provided.
Speed change
command
[Cd.14] New speed value
[Da.8] Command speed
Stop command
V
t
Speed change
command
Restarting
command
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