Mitsubishi Electric QD77MS User Manual page 787

Fig. 13.50 Deceleration curve continuation operation (for position control or S-curve
Stop cause occurrence
V (Sudden stop cause)
Deceleration stop
processing (automatic
deceleration) start
(Sudden stop in front of the specified positioning address)
Fig. 13.51 Sudden stop operation (for position control or S-curve acceleration/deceleration processing)
(2) Deceleration curve continuation
The current deceleration curve is continued after a stop cause has occurred.
If a stop cause occurs during automatic deceleration of position control, the
deceleration stop processing may be complete before the target has
reached the positioning address specified in the positioning data that is
currently executed.
Stop cause occurrence
V
Deceleration stop
processing (automatic
deceleration) start
acceleration/deceleration processing)
[2] Precautions for control
(1) In manual control (JOG operation, inching operation, manual pulse generator
operation) and speed-torque control, the stop command processing for
deceleration stop function is invalid.
(2) The stop command processing for deceleration stop function is valid when "0:
Normal deceleration stop" is set in "[Pr.37] Stop group 1 sudden stop
selection" to "[Pr.39] Stop group 3 sudden stop selection" as the stopping
method for stop cause occurrence.
(3) The stop command processing for deceleration stop function is invalid when
"1: Sudden stop" is set in "[Pr.37] Stop group 1 sudden stop selection" to
"[Pr.39] Stop group 3 sudden stop selection". (A deceleration curve is re-
processed starting from the speed at stop cause occurrence until at a stop,
according to the "[Pr.36] Sudden stop deceleration time".)
In the position control (including position control of speed/position
changeover control or position/speed changeover control) mode, positioning
may stop immediately depending on the stop cause occurrence timing and
"[Pr.36] Sudden stop deceleration time" setting.
Deceleration curve according
to sudden stop deceleration time
Deceleration curve when
stop cause does not occur
Stop cause occurrence
V
(Sudden stop cause)
Deceleration stop
processing (automatic
deceleration) start
t
(Immediate stop at the specified positioning address)
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Chapter 13 Control Sub Functions
t
Deceleration curve
according to sudden
stop deceleration time
Deceleration curve
when stop cause
does not occur
t