Mitsubishi Electric R16MTCPU Programming Manual page 210

Program example
■Program which changes the positioning speed of axis 2
CHGVS(K2, K10)
[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 CHGVS instruction is executed until the speed begins to change actually.
4 OPERATION CONTROL PROGRAMS
208
4.15 Motion-Dedicated Functions
Axis2
Reverse return is
requested here.
Starting point
P2 P3
P1 Axis1