Mitsubishi A1SD75M1, User Manual

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12 - 22
MELSEC-A
12 CONTROL AUXILIARY FUNCTIONS
(2) Precautions during control
(a) If the movement amount designated by the positioning data is small when
the continuous path control is executed in the near pass mode, the output
speed may not reach the designated speed.
(b) If continuous path control is carried out in the near pass mode, the output
will suddenly reverse when the reference axis movement direction changes
from the positioning data No. currently being executed to the next
positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.
(When the reference axis movement direction changes in the positioning
address pass mode, the operation automatically decelerates.)
[Path during continuous path control]
Axis 2
Axis 1 (reference axis)
Positioning data No.2
Positioning data No.1
[Axis 1 output speed]
(a) Positioning address pass mode (b) Near pass mode
V
t
Output does not suddenly reverse.
Positioning data
No. 1
Positioning data No.2
V
t
Output suddenly reverses.
Positioning data
No. 1
Positioning data No.2
[Axis 2 output speed]
(a) Positioning address pass mode (b) Near pass mode
t
Positioning data No.2
V
Positioning data
No. 1
V
t
Positioning data No.2
Positioning data
No. 1
Fig. 12.12 Path and output speed of various axes during continuous path control