Mitsubishi Electric R16MTCPU Programming Manual page 206

■Return program which changes the positioning speed of axis 1 to a negative value
CHGV(K1, K-1000)
The following operation will be performed when a return request is made in continuous trajectory control.
[Servo program]
CPSTART2
Axis 1
Axis 2
Speed
P1 ABS-2
Axis 1,
Axis 2,
P2 ABS-2
Axis 1,
Axis 2,
P3 ABS-2
Axis 1,
Axis 2,
CPEND
Start request
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Speed change request
CHGV
New Speed
Vector speed
Command in-position (OFF)
Speed change "0"
accepting flag
If a speed change to a negative speed is made during execution of positioning to P2 as shown above, the axis returns to P1
along the program specified locus and waits at P1.
[Precautions at speed change]
• A speed change may be invalid if the speed change is executed until the "positioning start complete signal"
status changes to ON at servo program start request . When making a speed change at almost the same
timing as a start, create a program to execute speed change after the "positioning start complete signal" has
turned on.
• When the reverse return is requested during stop in the state of FIN waiting using the M-code FIN signal
wait function in continuous trajectory control, it will be ignored.
• In the example of previous page, if reverse return is requested before P2 and the axis passes through P2
during deceleration, it return to P2.
• There will be a delay of time equivalent to an operation cycle at the maximum in the response time from
when the CHGV instruction is executed until the speed begins to change actually.
4 OPERATION CONTROL PROGRAMS
204
4.15 Motion-Dedicated Functions
[Locus]
Axis 2
1000
10000
0
10000
10000
20000
Starting point
10000
Return operation to point
Reverse return is
requested here.
Starting point
P2 P3
Negative speed change
P1 Axis 1
-1000
Waiting at P1
Axis2
P2
P1
1000
P3
Axis1