Mitsubishi Electric Melsec Q Series Programming Manual page 297

5 OPERATION CONTROL PROGRAMS
[Controls]
(10) 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.
Control mode
Linear control
Circular interpolation control
Fixed-pitch feed
Constant-speed control
Speed control ( )
Speed control ( )
Speed-position switching
control
Position follow-up control
Speed control with fixed
position stop
Speed switching control
JOG operation
High-speed oscillation
Home position return
(a) If a speed change is made to a negative speed, control is executed with the
control mode during the start as indicated in the above table.
(b) The returning command speed is the absolute value of a new speed.
Servo instruction
ABS 1 INC 1
ABS 2 INC 2
ABS 3 INC 3
ABS 4 INC 4
ABS circular INC circular
FEED 1 FEED 2 FEED
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
VVF VVR
VPF VPR VPSTART
PFSTART
PVF PVR
VSTART
OSC
ZERO
(Note) : Minor error [301] : A speed change was made during home position return.
Minor error [305] : The setting speed is outside the range of 0 to speed limit value.
Minor error [310] : A speed change was made during high-speed oscillation.
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Operation
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.
3
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.
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.
The axis cannot return.
The speed change request is regarded as a normal
speed change request.
Minor error [305] (Note) will occur and the axis will be
controlled at the speed limit value.
A speed change cannot be made. Minor error [310]
(Note)
will occur.
A speed change cannot be made. Minor error [301]
(Note) will occur.