Mitsubishi Electric MELSEC iQ-R16MTCPU, Руководство по программированию

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7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Override Function
• When "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control, speed
is not changed by override ratio if the override ratio is changed during deceleration for a speed change at a pass point. For
this case, from the pass point, speed is changed to the speed calculated by "command speed of the next point

override
ratio".
• In machine control, the override ratio setting of the machine configuration axis with the lowest axis No. is valid.
Ex.
For the following machine configuration axes
The override ratio setting of axis 1 is valid.
• In sequential coordinate command control of machine program operation, override is invalid.
Combining with speed change request (CHGV)
The following describes the operation for when speed is changed with Motion dedicated functions (CHGV, CHGVS), or Motion
dedicated PLC instructions (M(P).CHGV/D(P).CHGV) when using override.
• Operation is at the speed of "speed change request (CHGV) speed

override ratio". However, when the speed of "speed
change request (CHGV) speed

override ratio" exceeds the speed limit value, a warning (error code: 0991H) occurs, and
the feed speed is clamped at the speed limit value.
• When the speed after "speed change request (CHGV) speed

override ratio" is less than bias speed at start, a warning
(error code: 0A5DH) occurs and speed is not changed.
• For continuous trajectory control, "speed change request (CHGV) speed > command speed in servo program" is permitted.
(For continuous trajectory control where override is not used, the command speed in servo program cannot not be
exceeded.)
• For continuous trajectory control, speed is maintained unless the command speed is specified at a point. For points where
command speed is specified, speed change request (CHGV) is cancelled, and the speed becomes "program command
speed

override ratio".
• When the override ratio is changed during acceleration or deceleration for a speed change request (CHGV), speed is
changed to the speed of "speed change request (CHGV) speed

override ratio" from the point where the override ratio was
changed.
Item Machine configuration axis
Joint axis JNT1 Axis 3
Joint axis JNT2 Axis 1
Joint axis JNT3 Axis 2
t
P3 command speed
P1 and P2 command speed
V
OFF
ON
[Rq.1122] Speed switching point
specified flag (R: M30040/Q: M2040)
Continuous trajectory control
pass point
(1)
1000
Override ratio setting device
3000
P1 P2 P3
When the override ratio is changed during deceleration of the speed change to P3 (section (1)), the speed is not changed.
Speed is changed to the speed of “P3 command speed override ratio” from the beginning of P3.
P3 command speed override ratio