Mitsubishi Electric R16MTCPU Programming Manual page 208

• The specified speed that may be set at (S2) is within the following range.
Requested operation
Speed change request
Return request
*1 When the "speed control 10  multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is (10
• The speed changed by CHGVS instruction is effective only on the servo program during starting.
• The speed change does not executed for the axis specified with (S1) during deceleration stop.
• Acceleration/deceleration time at speed change can be changed by setting the acceleration/deceleration time change
parameter of the axis specified by (S1). Refer to the following for acceleration/deceleration time change parameter.
MELSEC iQ-R Motion controller Programming Manual (Advanced Synchronous Control)
Refer to the following for 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.
Control mode
Linear control
Circular interpolation
control
Fixed-pitch feed
Continuous trajectory
control
Speed control ()
Position follow-up control
Speed control with fixed
position stop
JOG operation
4 OPERATION CONTROL PROGRAMS
206
4.15 Motion-Dedicated Functions
Setting range
mm
0 to 600000000
-2
(10 [mm/min])
-1 to -600000000
-2
(10 [mm/min])
Servo instruction
ABS-1 ABS-2 ABS-3 ABS-4
INC-1 INC-2 INC-3
ABS circular INC circular
FEED-1 FEED-2 FEED-3
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
PFSTART
PVF PVR
inch
0 to 600000000
-3
(10 [inch/min])
-1 to -600000000
-3
(10 [inch/min])
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.
INC-4
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.
Warning (error code: 0991H) will occur and the axis will be controlled at the speed
limit value.
degree pulse
0 to 2147483647 0 to 2147483647
-3 *1
(10 [degree/min]) [pulse/s]
-1 to -2147483647 -1 to -2147483647
-3 *1
(10 [degree/min]) [pulse/s]
-2
[degree/min]).