Mitsubishi Electric MELSECQ Series User Manual page 168

9 POSITIONING CONTROL
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(2) Errors
If any of the following errors occurs during operation in the operation pattern of
"2: Continuous path control", the axis stops immediately on completion of
executing the previous positioning data.
(a) The moving direction in the currently executed positioning data differs from
the moving direction in the next positioning data
"Illegal direction for continuous path control" error (error code: 510)
(b) The movement amount to be executed in the next positioning data is small
and a constant-speed status does not exist.
"Insufficient movement amount for continuous path control" error (error
code: 511)
(c) The movement amount in the currently executed positioning data is small
and the calculation of the next positioning data cannot be performed until
completion of positioning control.
"Not complete calculation for continuous path control" error (error code: 512)
POINT
In the positioning data whose operation pattern is "2: Continuous path control", set
" Da. 5 Command speed" and " Da. 6 Positioning address/movement amount" so
that the execution time of that data is 2ms or more and a constant-speed part is
formed.
(3) Speed changing
(a) If the command speed of the "positioning data currently executed" differs
from that of the "positioning data to be executed next", acceleration or
deceleration is made on completion of the positioning control of the
"positioning data currently executed" to switch to the speed set in the
"positioning data to be executed next".
(b) The acceleration/deceleration processing to the command speed set in the
"positioning data to be executed next" uses " Da. 3 ACC/DEC time" set in
the "positioning data to be executed next".
When the command speeds are the same, speed changing is not made.
(For details, refer to "Section 4.5 List of positioning data".)
search engine
V
Positioning data Positioning data
No. 1 No. 2
Continuous path control
Da.5
MELSEC-Q
Da.6
t
2ms or more
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