Mitsubishi Electric SV13/22 Programming Manual page 244

7. POSITIONING CONTROL
[Caution]
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(1) The number of controllable axes cannot be changed while control is in
progress.
(2) Positioning control to the pass points can use a combination of the absolute
data method (ABS ) and the incremental method (INC ).
(3) A pass point can be designated as an address which results in a change in
travel direction.
However, a servo error or some other error may occur if acceleration
processing occurs at a pass point for 1-axis constant-speed control but no
acceleration or deceleration processing occurs at the pass point for 2- to 4-axes
constant-speed control.
(4) Speed change is possible after start
Note the following points when changing the speed.
(a) If constant-speed control includes circular interpolation using center point
designation
Error compensation (see Section 4.4.3) may not function normally if the
speed is changed when a discrepancy (within the allowable error range for
circular interpolation) exists between the designated end-point address and
the arc path calculated from the start address and center-point address.
Therefore, if the circular interpolation using center point designation
positioning method is used under constant-speed control, ensure that the
set start address, center-point address, and end address lie correctly on the
arc.
(b) If both a servo program and the DSFLP/CHGV instructions are used for the
speed change in the same program
The lower of the speed changed by the DSFLP/CHGV instructions and the
speed set by the servo program is selected.
The DSFLP/CHGV instructions are executed if the changed speed is lower
than the speed set in the servo program; otherwise the DSFLP/CHGV
instructions are not executed.
1) If DSFLP/CHGV changed speed>>servo program set speed
The speed set in the servo program is selected.
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Speed in servo program
DSFLP/CHGV instructions changed speed
Speed change to servo program commanded speed
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