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(2) Control precautions
(a) If the positioning movement direction from the stop position to a new target position
is reversed, stop the operation once and then position to the new target position.
(b) If a command speed exceeding the speed limit value is set to change the command
speed, the warning "Speed limit value over" (warning code: 501) will occur, and the
new command speed will be the speed limit value. Also, if the command speed
change disables the remaining distance to the target value from being assured, the
warning "Insufficient remaining distance" (warning code: 509) will occur.
(c) In the following cases, the target position change request is ignored, and the
warning "Target position change not possible" (warning code: 518) will occur.
• During interpolation control
• A new target position value (address) is outside the software stroke limit range.
• The axis is decelerating to a stop by a stop cause.
• While the positioning data whose operation pattern is continuous path control is executed.
• When the speed change 0 flag ([Md.31] Status: b10) is ON.
(d) When a command speed is changed, the current speed is also changed. When the
next positioning speed uses the current speed in the continuous positioning, the
next positioning operation is carried out at the new speed value. When the speed is
set with the next positioning data, that speed becomes the current speed and the
operation is carried out at the current speed.
(e) When a target position change request is given during automatic deceleration in
position control, positioning control to a new position is exercised after the axis has
stopped once if the moving direction is reversed. If the moving direction is not
reversed, the axis is accelerated to the command speed again and positioned to the
new position.
(f) If the constant speed status is regained or the output is reversed by a target position
change made while "[Md.48] Deceleration start flag" is ON, the deceleration start
flag remains ON. (Refer to Page 602, Section 12.7.8 for details.)
(g) Carrying out the target position change to the ABS linear 1 in degrees may carry out
the positioning to the new target position after the operation decelerates to stop
once, even the movement direction is not is reversed.
When carrying out the target position change continuously, take an interval of 100ms or longer between the times of the
target position changes. Also, take an interval of 100ms or longer when the speed change and override is carried out after
changing the target position or the target position change is carried out after the speed change and override.
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Troubleshooting
