MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 495)

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MELSEC-Q
12 CONTROL SUB FUNCTIONS
[2] Precautions during control
(1) If the movement amount designated by the positioning data is small when
the continuous path control is executed, the output speed may not reach the
designated speed.
(2) If continuous path control is carried out, the output will suddenly reverse
when the reference axis movement direction changes from the positioning
data No. currently being executed to the next positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.
[Path during continuous path control]
Axis 2
Axis 1 (reference axis)
Positioning data No.2
Positioning data No.1
[Axis 1 output speed]
V
t
Output suddenly reverses.
Positioning data
No. 1
Positioning data No.2
[Axis 2 output speed]
V
t
Positioning data No.2
Positioning data
No. 1
Fig. 12.11 Path and output speed of various axes when movement direction varies during continuous
path control