MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 511)

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MELSEC-Q
12 CONTROL SUB FUNCTIONS
[2] Precautions during control
(1) Control is carried out as follows at the speed change during continuous path
control.
a) When no speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at the " Cd.14 New speed
value".
b) When a speed designation is provided in the next positioning data:
The next positioning data is controlled at its command speed
( Da.8 ).
Positioning control
P1
Designated speed in P2
Cd. 14 New speed value
Next control
P2
Speed change
command
Designated speed in P1
[a] When no speed designation
(current speed) is provided.
[b] When a speed designation
is provided.
Fig. 12.23 Speed change during continuous path control
(2) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends
on the function version.
Function version Restarting speed
A Da.8 Command speed
B or later Cd.14 New speed value
Refer to Section 2.4 for the way to check the function version.
V
t
Speed change
command
Stop command
Restarting
command
Cd. 14 New speed value
Command speed Da. 8
Fig. 12.24 Restarting speed after speed change made during position control (Function version B)