Retracing During Positioning - Mitsubishi Electric SV13/22 Programming Manual

5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5.5

Retracing during Positioning

Control mode
Linear control
Circular interpolation
control
Fixed pitch control
Constant speed control
Speed control (I)
Speed control (II)
Speed/position control
Position follow-up control
Speed switching control
High speed oscillation
Zeroing
(Reference) Minor error 301 : Speed has been changed during zeroing.
[Control Details]
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When a negative speed is designated in the CHGV (or DSFLP) instruction at the
start to make a speed change request, deceleration begins at that time and
retracing starts on completion of deceleration. The following operations can be
performed by the servo instructions.
Servo instruction
ABS-1 ABS-2 ABS-3 ABS-4
INC-1 INC-2 INC-3 INC-4
ABS Circular INC Circular
FEED-1 FEED-2 FEED-3
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
VVF VVR
VPF VPR VPSTART
PFSTART
VSTART
JOG operation
OSC
ZERO
Minor error 305 : The designated speed is not within the range from 0 to the speed limit value.
Minor error 310 : Speed has been changed during high speed oscillation.
(1) When speed is changed to negative speed, control takes place as shown in the
table above according to the control mode in use.
(2) The designated retracing speed is indicated by the absolute value of the
change speed. When it exceeds a speed limit value, a minor error 305 is
returned and retracing is controlled according to the speed limit value.
(3) When stopping (waiting) continues at a return position, processing takes place
as follows.
(a) Signal status
• Start accept (M2001+n)
• Positioning start completion (M1600 + 20n)
• Positioning completion (M1601+20n)
• In-position (M1602+20n)
• Command in-position (M1603+20n)
• Speed change "0" accept flag (-)
(b) When attempting a start again, change the speed to plus speed.
(c) When terminating positioning, set the stop command to ON.
(d) When attempting a negative speed change again, it is ignored.
(4) Retracing takes place in the speed control mode as follows.
(a) When changing the travel direction again, change the speed to plus speed.
(b) When stopping retracing, set the stop command to ON.
(c) When making negative speed change again, speed change is made in the
reverse direction.
search engine
The travel direction is reversed on completion of deceleration, and retracing takes
place and stops (waits) at the positioning start point according to the absolute value
of the designated speed. In circular interpolation, retracing takes place on the
circular track.
The travel direction is reversed on completion of deceleration, and retracing takes
place and stops (waits) at the preceding point according to the absolute value of the
designated speed.
The travel direction is reversed on completion of deceleration according to the
absolute value of the designated speed. Retracing does not stop unless the stop
command is entered.
Retracing is not possible.
A normal speed change request is assumed.
A minor error 305 is returned and a speed limit value is used for control.
Speed cannot be changed. A minor error 310 is returned.
Speed cannot be changed. A minor error 310 is returned.
5 − 20
Operation
ON (remains in the status
before CHGV execution)
ON (remains in the status
before CHGV execution)
OFF
ON
OFF
ON