Mitsubishi Electric MELSEC-Q Series - Page 144

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4 PARAMETERS FOR POSITIONING CONTROL
(1) There are patterns (below pattern 1 to 4 respectively) that depends on the
positioning speed of the acceleration pattern/deceleration pattern of advanced S-
curve acceleration/deceleration.
Time
Time
Speed
A1R
A2R
Vacc
S.R.
A
maxA
Trapezoidal acceleration
/deceleration
1)
3)
2)
4)
1)
3)
2)
4)
Pattern 1): Positioning speed = S.R.
Pattern 2): Vacc < Positioning speed < S.R.
Pattern 3): Positioning speed = Vacc
Pattern 4): Positioning speed < Vacc
(Note): The graph of deceleration is opposite to
acceleration because the deceleration
pattern is negative acceleration.
Acceleration
Fig.4.5 Acceleration pattern