Mitsubishi Electric MELSEC-Q Series - Page 152

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4 PARAMETERS FOR POSITIONING CONTROL
POINTS
When the rapid stop command turns ON during deceleration stop processing of
advanced S-curve acceleration/deceleration, timing may be such that a rapid stop
will take longer than the advanced S-curve deceleration.
In this case, the advanced S-curve deceleration stop processing will automatically
continue instead of using the rapid stop processing.
(3) Speed change processing
Operation in which a speed change is executed during each section of
acceleration is shown below.
Speed
Time
1), 2)
3)
3)2)1)
0
0
AmaxA
1), 2)
3)
Time
Command speed V
0
(Before speed change)
Command speed V
1
(After speed change)
Before speed change
Before speed change
Speed change V1 (Acceleration)
Acceleration
Pattern Speed change command
Acceleration/deceleration processing
at speed change
Operation
1)
Speed change V
1
(Acceleration)
Acceleration section 1
(Increasing acceleration section)
• Length of maximum acceleration section is adjusted to
reach speed V
1 at acceleration end.
• The acceleration is decreased until the acceleration
reaches zero.
2) Maximum acceleration section
3)
Maximum acceleration section
(When the speed change occurs in
situations where V
0 will surpass V1
during the decreasing acceleration
section.)
• The maximum acceleration section is interrupted, and the
acceleration is decreased until the acceleration reaches
zero.
• The deceleration processing is executed to reach speed V
1.