Mitsubishi Electric MELSEC Q Series Programming Manual page 490

7 AUXILIARY AND APPLIED FUNCTIONS
[K101]
CPSTART-1
Axis 1
Speed 1500000
S.R. 2000000
1000
1000
INC-1
Axis 1
Travel 800000
Speed 100000
M-code 10
INC-1
Axis 1
Travel 1000000
Speed 150000
M-code 20
INC-1
Axis 1
Travel 600000
Speed 50000
M-code 30
CPEND
(h) During a positioning operation where acceleration/deceleration time is
changed, and the deceleration distance to the final positioning address for
the output speed is not enough, a minor error (error code: 211) occurs and
the operation immediately stops at the final positioning address. Execute a
speed change at a position where enough movement amount until the stop
position is ensured.
(i) If acceleration/deceleration time is changed during speed control in speed-
position switching (VPF/VPR), control continues at the
acceleration/deceleration times changed during speed control even after
switching from speed to position control. To control with the
acceleration/deceleration time of the start after switching to position control,
execute speed change again.
(j) If acceleration/deceleration time is changed during speed switching control
(VSTART), constant-speed control (CPSTART), control at the
"acceleration/deceleration time after change" occurs only between the points
where change was executed. From the next point onward, control at the
"acceleration/deceleration time at start" set beforehand occurs.
If the speed switching point specified flag (M2040) is ON in constant-speed
control (CPSTART), speed change is executed up to the speed switching
point at the "acceleration/deceleration time after change". (If the
acceleration/deceleration time is changed to a large value, speed change
may not be completed up to the speed switching point).
pulse/s
pulse/s
ms
ms
pulse
pulse/s
Speed switching point
specified flag (M2040)
pulse
M-code (D13+20n)
pulse/s
Acceleration/deceleration
time change enable device
pulse
pulse/s New acceleration time
value device
New deceleration time
value device
Speed change request
(CHGV)
Change speed
V
[pulse/s]
200000
150000
100000
75000
50000
ON
10
ON
OFF
0
0
OFF
7 - 45
Control at deceleration time after change
Control at deceleration
time at start
20 30
2000
500
ON
75000
t