Mitsubishi Electric MELSEC-Q Series - Page 153

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4 PARAMETERS FOR POSITIONING CONTROL
(4) Speed control with fixed position stop processing
The "fixed position stop acceleration/deceleration time" set in the servo program
is used during acceleration/deceleration processing when a positioning start,
speed change request (CHGV) or fixed position stop command ON occurs.
It operates in the fixed acceleration/deceleration time method.
(a) Acceleration/deceleration processing in the fixed acceleration/deceleration
time method
Actual acceleration time, deceleration time and maximum acceleration are
shown below.
Acceleration time Specified acceleration time (AT) (100.0 + A1R + A2R) 100.0
Deceleration time Specified deceleration time (DT) (100.0 + D1R + D2R) 100.0
Maximum acceleration Speed difference Specified acceleration/deceleration time
(b) Acceleration processing from zero speed and deceleration processing to
zero speed (fixed time method)
Operation for positioning to fixed position stop command position at servo
program start is shown below.
a (100.0 + A1R + A2R) 100.0
Speed
Time
Command speed V
0
Time
b
a
0
0
OFF
ON
OFF
ON
ab
Servo program start
Fixed position stop command
device
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
V
0 a
(-V0) b
b (100.0 + D1R + D2R) 100.0
1)
2)
Acceleration
Speed change command
Speed
difference
Acceleration/
deceleration time
Maximum
acceleration
Operation
1) Servo program start
(Acceleration from speed 0 to V
0)
V
0 a V0 a
Actual acceleration time
"a
(100.0 + A1R + A2R) 100.0"
2) Positioning to fixed position stop
command position
(Deceleration from speed V
0 to 0)
-V
0 b (-V0) b
Actual deceleration time
"b
(100.0 + D1R + D2R) 100.0"