Instruction manual

6. DRIVE MODULE
6 − 6
[Control contents]
(1) If a speed change is made to a negative speed, control is carried out as
indicated in the previous table in accordance with the control mode during
startup.
(2) The command speed during return becomes the absolute value of the changed
speed. If the speed limit value is exceeded the minor error 305 will result and
control will use the speed limit value.
(3) The following hold true when the servo is in the stand by status at the return
position.
(a) Status of each signal
• Start accept (M2001+n) ON (No change prior to CHGV execution)
• Positioning start completed (M4000+20n) ON (No change prior to
CHGV execution)
• Positioning completed (M4001+20n) OFF
• Command in-position (M4003+20n) OFF
• Speed change "0" accepting in progress flag (M2240+n) ON
(b) In the case of a restart carry out a speed change to the normal speed.
(c) When positioning is completed set the stop command to ON.
(d) If a negative speed change is carried out a second time it is ignored.
(4) The following are true during reverse return using the speed control mode.
(a) If the direction of movement is returned a second time, carry out a speed
change to the normal speed.
(b) To stop set the stop command to ON.
(c) If a negative speed change is carried out a second time, carry out speed
change using the reverse return direction.
[Error contents]
(1) During startup of reverse return in a valid control mode, if the absolute value of
the negative changed speed exceeds the speed limit, the minor error 305 will
occur and reverse return will be carried out using the speed limit value.
(2) During constant-speed control if the absolute value of the negative changed
speed exceeds the speed set in the servo program, reverse return will be
carried out using the speed set in the program. (Speed clamp control in
relation to a speed change during constant-speed control) An error will not
occur at this time.
(3) Not enabled after the initial automatic deceleration. Minor error 303 results.