Mitsubishi Electric Melsec Q Series Programming Manual page 298

5 OPERATION CONTROL PROGRAMS
[Errors]
(c) When the axis is waiting at the return position
1) Signal states
• Start accept flag (M2001+n) .................................. ON (unchanged from
• Positioning start complete (M2400+20n) .............. ON (unchanged from
• Positioning complete (M2401+20n) ....................... OFF
• In-position (M2402+20n) ........................................ ON
• Command in-position (M2403+20n) ...................... OFF
• Speed change "0" accepting flag (M2240+n) ....... ON
2) Make a speed change to a positive speed for a restart.
3) Turn on the stop command to end the positioning.
4) A negative speed change made again will be ignored.
(d) While the axis is reversion in the speed control mode
1) Make a speed change to a positive speed to change the travel direction
again.
2) Turn ON the stop command to make a stop.
3) A speed change is made in the opposite direction if a negative speed
change is made again.
(e) A speed change to a negative speed will not be made for the axis which set
the stroke limit as invalid.
(1) An operation error will occur and a speed change will not be made if:
• The specified axis No. of (S1) is outside the range.
• (S2) is an indirectly specified device and its device No. is outside the range.
(2) A minor error will occur and a speed change will not be made if:
• The axis specified with (S1) is home position return. (Minor error: 301)
• A speed change to a negative speed was made for the axis which set the stroke
limit as invalid. (Minor error: 310)
POINT
If the speed change is executed for the axis specified with (S1) during deceleration,
the speed change is ignored. An error will not occur in this case.
(3) A minor error will occur and the axis to be controlled at the speed limit value if:
• The absolute value of the speed specified with (S2) is greater than the speed
limit value. (Minor error: 305)
POINT
If the absolute value of a negative new speed is higher than the speed specified
with the servo program during constant-speed control, return control is exercised at
the speed specified in the program (speed clamp control for a speed change during
constant-speed control). At this time, an error will not occur.
5 - 75
before execution of
CHGV instruction)
before execution of
CHGV instruction)