Mitsubishi Electric MELSEC iQ-F Series FX5 User Manual page 101

• When the interpolation axis suddenly reverses its direction, the command pulses from the positioning module are output as
described below.
Forward command
Reverse command
When a command frequency is f (pulse/s), t1 and t2 are determined using the following calculation formulas.
⋅ t1=1/2f[s]
⋅ t2=1/f[s]
A time of t1 must be ensured by the drive unit for a specified time T[s] or longer. (The time T depends on the specifications of
the drive unit.)
When the time of t1 cannot be ensured for T or longer, reduce the value in [Da.8] Command speed of the positioning data.
■Speed handling
• The command speed of the continuous path control is set for each positioning data. The positioning module implements
positioning at the speed specified with each positioning data.
• The command speed can be set to -1 in the continuous path control. When the command speed is set to -1, the control is
performed at the speed used in the previous positioning data No. (When the positioning data is set using GX Works3, the
current speed is displayed in the command speed of the GX Works3. Current speed is the speed of the positioning control
currently being implemented.)
• If the command speed has been set to -1 before the uniform speed control is executed, the speed does not need to be set
in each positioning data.
• If the speed is changed or the override function is executed in the previous positioning data when the command speed has
been set to -1, the control can be continued at the new speed.
• If -1 is set in the command speed of the first positioning data at the start, No command speed (Error code: 1A12H) occurs
and the positioning cannot be started.
[Relation between the command speed and current speed]
Speed P1 P2
3000
2000
1000
1000 3000
Command speed
[Da. 8]
1000 3000
Current speed
[Md.27]
P3 P4 P5
Position
-1 -1 -1
3000 3000 3000
t1
t2
Speed P1 P2
3000
2000
1000
1000 3000
Command speed
[Da. 8]
1000 3000
Current speed
[Md.27]
9 MAJOR POSITIONING CONTROL
9.1 Overview of the Major Positioning Controls
P3 P4 P5
Position
-1 -1 -1
3000 3000 3000
Current speed is changed
even if the command speed is
not reached using P2.
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