Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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7 CONTROL SUB FUNCTIONS
7.5 Functions that Change Control Details
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7
Control precautions
• If the positioning movement direction from the stop position to a new target position is reversed, the operation stops once
and the positioning to the new target position is performed.
• If a command speed exceeding the speed limit value is set to change the command speed, Speed limit value over (Warning
code: 0991H) occurs, and the new command speed becomes the speed limit value. Also, if a distance to the target value
cannot be ensured due to the command speed change, Insufficient remaining distance (Warning code: 0995H) occurs.
• When [Cd.29] Target position change request flag is turned on in the following cases, the target position change request is
ignored and a warning occurs.
• When the command speed is changed, the current speed is also changed. When the current speed is used as the next
positioning speed in the continuous positioning, the next positioning operation is performed with the new speed value.
When the speed is set with the next positioning data, that speed becomes the current speed and the operation is performed
at the current speed.
• When a target position change request is given during the automatic deceleration in the position control and the movement
direction is reversed, the positioning control to a new position is performed after the positioning has stopped once. If the
movement direction is not reversed, the speed accelerates to the command speed again and the positioning to the new
position is performed.
• Even though the speed changes to the constant speed or the output is reversed by performing the target position change
while [Md.48] Deceleration start flag is on, Deceleration start flag remains on. (  Page 293 Deceleration start flag
function)
• When the speed does not need to be changed, set 0 in [Cd.28] Target position change value (new speed).
• When the target position change is performed to the ABS linear 1 in degrees, the positioning to the new target position may
be performed after the deceleration stop was performed once even though the movement direction is not is reversed.
To change the target position successively, set 10ms or longer as the interval between each target position
change. Set 10ms or longer interval for the speed change or override after the target position change or for
the target position change after the speed change or override.
Occurrence condition Warning
During the interpolation control Target position change not possible (Warning code: 099BH)
While the positioning data whose operation pattern is the continuous path control is
executed Target position change not possible (Warning code: 099CH)
The target position change value (new address) is outside the software stroke limit
range. Target position change not possible (Warning code: 099FH, 09A0H)
The target position change value (new address) is outside the range when [Pr.1] Unit
setting is set to degree. Target position change not possible (Warning code: 09A1H)
When the deceleration stop is performed due to a stop cause Target position change not possible (Warning code: 099DH)
When Speed change 0 flag ([Md.31] Status: b10) is on Target position change not possible (Warning code: 099EH)