Mitsubishi Electric MELSEC-Q Series - Page 146

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4 PARAMETERS FOR POSITIONING CONTROL
The actual acceleration/deceleration time for each pattern (Fig.4.5 pattern 1 to 4) based
on positioning speed is shown below.
[Actual acceleration time]
Pattern Positioning speed Description Actual acceleration time Actual maximum acceleration
High Low
1) Positioning speed = S.R.
• It accelerates with the acceleration section
1, maximum acceleration section and
acceleration section 2.
AAT
AmaxA
2) Vacc < Positioning speed < S.R.
• Maximum acceleration section is short
than pattern 1.
AAT -
(S.R. - Positioning speed)
AmaxA
3) Positioning speed = Vacc
• No maximum acceleration section
• It accelerates with only acceleration
section 1 and acceleration section 2.
A1T + A2T
4) Positioning speed < Vacc
• No maximum acceleration section
• Maximum acceleration and acceleration
increase/decrease time of acceleration
section 1 and 2 are shortened.
(A1T + A2T)
(Positioning speed/Vacc)
AmaxA
(Positioning speed/Vacc)
[Actual deceleration time]
Pattern Positioning speed Description Actual Deceleration time
Negative actual maximum
acceleration
High Low
1) Positioning speed = S.R.
• It accelerates with the deceleration section
1, maximum negative acceleration section
and deceleration section 2.
ADT
DmaxA
2) Vdac < Positioning speed < S.R.
• Maximum negative acceleration section is
shortened than pattern 1.
ADT -
(S.R. - Positioning speed)
DmaxA
3) Positioning speed = Vdac
• No maximum negative acceleration
section.
• It decelerates with only deceleration
section 1 and deceleration section 2.
D1T + D2T
4) Positioning speed < Vdac
• No maximum negative acceleration
section.
• Maximum acceleration of deceleration
section 1 and deceleration section 2, and
negative acceleration increase/decrease
time are shortened.
(D1T + D2T)
(Positioning speed/Vdac)
DmaxA
(Positioning speed/Vdac)
(2) When the positioning speed is slower than the speed limit value, adjust the
acceleration in the following procedure.
(a) Shorten time of maximum acceleration section. (Fig.4.5 Pattern 2, 3)
(b) Reduce maximum acceleration and acceleration increase/decrease time of
acceleration section 1 and 2. (Fig.4.5 Pattern 4)