Speed Switching During Instruction Execution - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.16.2

Speed switching during instruction execution

[Cautions]
The speed can be designated for each pass point during a constant-speed control
instruction.
The speed change from a point can be designated directly or indirectly in the servo
program.
(1) The speed can be changed during servo instruction execution for 1 to 4-axes
constant-speed control.
(2) The speed command can be set for each point.
(3) The speed-switching point designation flag M2040 (see Section 3.1.3) can be
turned ON before control is started to set the designated speed-switching point
as the end point for the speed change.
The speed change timing is shown below for the cases where the speed-
switching point designation flag M2016 is ON and OFF.
(a) M2040 is OFF
The speed change starts at the designated speed-switching point.
(b) M2040 is ON
The speed change ends at the designated speed-switching point.
V
Speed change end point
Speed change
start point
Designated speed-switching point
V
Speed change end point
Speed change
start point
Designated speed-switching point
7 − 100
t
t