Mitsubishi Electric MELSEC iQ-R RD78G4 - Page 116

114
4 ADVANCED SYNCHRONOUS CONTROL
4.3 Clutch
■Time constant method linear acceleration/deceleration smoothing
Set "2: Time constant method (Linear)" in the clutch smoothing method.
Slippage method smoothing
Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF
when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore,
positioning control at clutch ON/OFF is not affected by speed changes.
Processing proceeds with direct operation after completing clutch ON smoothing.
The movement amount between the clutch turning ON and OFF is as follows after clutch smoothing.
Movement amount after clutch smoothing = Movement amount before clutch smoothing + (Slippage amount at OFF -
Slippage amount at ON)
*1 Main input axis position units (Page 28 INPUT AXIS MODULE)
*2 Auxiliary shaft position units (Page 28 INPUT AXIS MODULE)
*3 Cam axis cycle units (Page 123 Units for the output axis)
■Slippage method exponential curve smoothing
Set "3: Slippage (Exponential)" in the clutch smoothing method.
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Slippage amount at
clutch ON
[Pr.413]
Slippage amount at main shaft
clutch ON
[Pr.430]
Slippage amount at auxiliary
shaft clutch ON
For smoothing with a slippage
method, set the slippage amount
at clutch ON.
■Set in decimal.
0 to 2147483647
[Main input axis position units
*1
/
auxiliary shaft position units
*2
or
cam axis cycle units
*3
]
Slippage amount at
clutch OFF
[Pr.414]
Slippage amount at main shaft
clutch OFF
[Pr.431]
Slippage amount at auxiliary
shaft clutch OFF
For smoothing with a slippage
method, set the slippage amount
at clutch OFF.
Item Main shaft clutch Auxiliary shaft clutch
Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status
Clutch smoothing status [Md.421] Main shaft clutch smoothing status [Md.424] Auxiliary shaft clutch smoothing status
t
t
Speed after clutch smoothing
Clutch smoothing time constant
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch
processing
t
t
Speed after clutch smoothing
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch
processing
Slippage amount at clutch ON Slippage amount at clutch OFF