Mitsubishi Electric MELSEC-Q Series - Page 143

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4 PARAMETERS FOR POSITIONING CONTROL
Processing for advanced S-curve acceleration/deceleration is shown below.
Section Processing
Operation
Acceleration Deceleration Rapid stop
A Acceleration section 1
At the start of acceleration, acceleration continuously changes in a sinusoidal manner until reaching
the maximum acceleration for trapezoidal acceleration/deceleration.
Set this section in acceleration section 1 ratio (A1R).
— —
B Maximum acceleration section The maximum acceleration for trapezoidal acceleration/deceleration
C Acceleration section 2
At the end of acceleration, acceleration continuously changes in a sinusoidal manner until reaching
zero acceleration.
Set this section in acceleration section 2 ratio (A2R).
D Constant-speed section The specified control positioning speed — — —
E Deceleration section 1
At the start of acceleration, deceleration continuously changes in a sinusoidal manner until
reaching the maximum negative acceleration for trapezoidal acceleration/deceleration.
Set this section in deceleration section 1 ratio (D1R).
—
F
Maximum negative acceleration
section
The same maximum negative acceleration for trapezoidal acceleration/deceleration
G Deceleration section 2
At the end of deceleration, deceleration continuously changes in a sinusoidal manner until reaching
zero acceleration.
Set this section in deceleration section 2 ratio (D2R).
Set the following parameters in the parameter block.
Item
Abbre-
viation
Setting range Processing
Operation
Acceleration Deceleration Rapid stop
Speed limit value S.R.
mm 0.01 to 6000000.00[mm/min]
• Maximum speed at positioning/home position return
inch 0.001 to 600000.000[inch/min]
degree
0.001 to 2147483.647[degree/min]
(Note-1)
pulse 1 to 2147483647[pulse/s]
Acceleration time AT
1 to 65535[ms]
• Time to reach the speed limit value (S.R.) after
positioning start. (During trapezoidal acceleration)
— —
Deceleration time DT
• Time to stop from the speed limit value (S.R.).
(During trapezoidal deceleration)
—
—
Rapid stop
deceleration time
ET
• Time to stop from the speed limit value (S.R.) at
rapid stop. (Trapezoidal deceleration)
— —
Acceleration section 1
ratio
A1R
0.0 to 100.0[%]
(A1R + A2R  100.0[%])
• Ratio of speed limit value (S.R.) to acceleration peak
from zero acceleration.
— —
Acceleration section 2
ratio
A2R
• Ratio of speed limit value (S.R.) to zero acceleration
from acceleration peak.
— —
Deceleration section 1
ratio
D1R
0.0 to 100.0[%]
(D1R + D2R  100.0[%])
• Ratio of speed limit value (S.R.) to negative
acceleration peak from zero acceleration.
—
Deceleration section 2
ratio
D2R
• Ratio of speed limit value (S.R.) to zero acceleration
from negative acceleration peak.
—
(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].
POINTS
The acceleration time to reach the command speed and the travel value during
acceleration changes by setting the Acceleration section 1 ratio and acceleration
section 2 ratio. The deceleration time to stop from the commanded speed and the
travel value during deceleration changes by setting the deceleration section 1 ratio
and deceleration section 2 ratio.