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4 PARAMETERS FOR POSITIONING CONTROL
POINTS
The S-curve pattern is recreated in the cases shown below during S-curve
deceleration processing for the S-curve ratio.
In these cases the deceleration pattern may not continue or an overrun may occur.
(1) When the same speed control command turns ON the stop command or the
skip signal during S-curve deceleration processing for the end point
t
V
Positioning speed
OFF
ON
Stop command (M3200+20n)/
Cancel signal
n-1 point
End point n
(Small travel value)
Time
The S-curve pattern is recalculated at
stop command or cancel signal ON.
The S-curve pattern is recalculated
again upon reaching the starting
point of the end point.
(The operation is the same as when
the stop command, etc. are not ON.)
The target position is exceeded.
Deceleration time
(Note-1): The processing described above is also performed at STOP signal input when "Deceleration
stop based on the deceleration time" is set in "Deceleration processing on STOP input" for
the parameter block or servo program.
(Note-2): The same processing is also performed when the rapid stop command is set (including
when "Deceleration stop based on the rapid stop deceleration time" is set in Deceleration
processing on STOP input). However, it is possible to prevent the end point from
overrunning by adjusting the setting for the rapid stop deceleration time.
(2) When the skip signal is turned ON during end point processing for the constant-
speed control instruction
t
V
Positioning speed
OFF
ON
Skip signal
n-1 point
End point n
(Small travel value)
Time
When the skip signal is turned ON at the
end point, the S-curve pattern is
recalculated due to deceleration stop
processing.
As a result, the target point is exceeded.
Deceleration time
(3) When the rapid stop command is turned ON during S-curve deceleration
processing
t
V
Positioning speed
OFF
ON
Time
The S-curve pattern is recreated based
on the rapid stop deceleration time if the
rapid stop command turns ON.
Rapid stop command
M3201+20n
Deceleration time
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