Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7 − 100
7.16.2 Speed switching during instruction execution
The speed can be designated for each pass point during a constant-speed control
instruction.
The speed change from a point can be designated directly or indirectly in the servo
program.
[Cautions]
(1) The speed can be changed during servo instruction execution for 1 to 4-axes
constant-speed control.
(2) The speed command can be set for each point.
(3) The speed-switching point designation flag M2040 (see Section 3.1.3) can be
turned ON before control is started to set the designated speed-switching point
as the end point for the speed change.
The speed change timing is shown below for the cases where the speed-
switching point designation flag M2016 is ON and OFF.
(a) M2040 is OFF
The speed change starts at the designated speed-switching point.
V
t
Speed change end point
Speed change
start point
Designated speed-switching point
(b) M2040 is ON
The speed change ends at the designated speed-switching point.
V
t
Speed change end point
Speed change
start point
Designated speed-switching point

Mitsubishi Electric A173UHCPU Specifications

General

Brand	Mitsubishi Electric
Model	A173UHCPU
Category	Control Unit
Language	English