MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D - Manual (Page 554)

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MELSEC-Q
12 CONTROL SUB FUNCTIONS
[2] Precautions during operation
(1) If the positioning movement direction from the stop position to a new target
position is reversed, stop the operation once and then position to the new
target position. (Refer to Fig. 12.41 (c).)
(2) If a command speed exceeding the speed limit value is set to change the
command speed, a warning will be given, and the new command speed will
be the speed limit value (warning code: 501).
Also, if the command speed change disables the remaining distance to the
target value from being assured, a warning will be given (warning code: 509).
(3) During interpolation control, a target position change request given is ignored
and a warning (warning code: 518) occurs if a new target position value
(address) is outside the software stroke limit range, if the axis is decelerating
to a stop, or if the operation pattern is continuous path control.
(4) When a command speed is changed, the current speed is also changed.
When the next positioning speed uses the current speed in the continuous
positioning, the next positioning operation is carried out at the new speed
value. When the speed is set with the next positioning data, that speed
becomes the current speed and the operation is carried out at the current
speed.
(5) When a target position change request is given during automatic deceleration
in position control, positioning control to a new position is exercised after the
axis has stopped once if the moving direction is reversed. If the moving
direction is not reversed, the axis is accelerated to the command speed again
and positioned to the new position.
(6) If the constant speed status is regained or the output is reversed by a target
position change made while " Md .48 Deceleration start flag" is ON, the
deceleration start flag remains ON. (For details, refer to Section 12.7.9.)
POINT
When carrying out the target position change continuously, take an interval of 100 ms or longer between the
times of the target position changes. Also, take an interval of 100 ms or longer when the speed change is
carried out after changing the target position or the target position change is carried out after the speed
change.