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MELSEC-
A
9 MAIN POSITIONING CONTROL
(c) Speed handling
1) Continuous path control command speeds are set with each
positioning data.
The D75P2 then carries out the positioning at the speed designated
with each positioning data.
2) The command speed can be set to "–1" in continuous path control.
The control will be carried out at the speed used in the previous
positioning data No. if the command speed is set to "–1".*
1
("–1" will be displayed in the command speed when the positioning
data is set with a peripheral device.)
(1) The speed does not need to be set in each positioning data when
carrying out uniform speed control if "–1" is set beforehand in the
command speed.
(2) If the speed is changed in the previous positioning data when "–1"
is set in the command speed, the operation can be continued at
the new speed.
(3) An error "no command speed" (error code: 503) occurs and
positioning cannot be started if "–1" is set in the command speed
of the first positioning data at start.
[Relation between the command speed and current speed]
The current speed is
changed even if the command
speed is not reached in P2.
2000
1000
3000
30001000
1000
-1
3000
-1
3000
-1
3000
P1 P2 P3 P4 P5Speed
3000
Da. 7 Command speed
Md. 36 Current speed
2000
1000
3000
P1 P2 P3 P4 P5Speed
3000
1000
1000
-1
3000
-1
3000
-1
30003000
Da. 7 Command speed
Md. 36 Current speed
POINT
(1) Speed fluctuation can be eliminated by setting the mode to the near pass mode. (Refer to section
"12.3.3 Near pass mode function".)
(2) The D75P2 holds the command speed set with the positioning data as the "
Da.7 Command speed",
and the latest value of the speed set with the speed change request as the "
Md.36 Current speed". It
controls the operation at the "
Md.36 current speed" when "-1" is set in the command speed.
(Depending on the relation between the movement amount and the speed, the feedrate may not reach
the command speed value, but even then the current speed will be updated.*
2
)
(3) When the address where the speed will be changed is known beforehand, creating and executing the
positioning data for speed change in continuous path control allows a speed change to be made
without a speed change request being issued in the sequence program.