Mitsubishi Melsec-A Series User Manual page 28

3. SPECWICATIONS
/MELSEC-
Error compensation is valid for: manual pulser inching, jogging and
positioning applications.
Backlash compensation, Bc, should be set according to the following
expression:
B c = B x E
where,
B = Actual backlash
E = As above
(1
0)
Manual pulser inching travel increment
0
Defines the distance travelled each time a manual pulser inching
command is given.
0
The AD71 counts the number of manual pulser inching com-
mands input and transmits the appropriate number of output
pulses. (The speed i s fixed a t
2oooO
PLS/sec.)
0
During manual pulser inching there is no automatic acceleration/
deceleration.
(1 1
)
Acceleration and deceleration times
0
Defines the period of time from the start of positioning to
when the speed limit value specified in the parameter is reached.
(Refer to Fig. 3.5.)
Parameter
speed
limit value
4
Positioning
speed
-
: Swed
if starting bias speed
has been set
0,
8
v)
/*
Starting
bias speed Actual
- - -
Acceleration
and
deceleration
-acceleration time -deceleration time
*
- 0
speeds
if starting bias speed
Set acceleration time Set deceleration time
Fig. 3.5 A d o r a t i o n md Ikcrlaration Times
The acceleration and deceleration times cannot be
s e t
indepen-
dently.
Acceleration and deceleration are controlled at a constant
value.
When the positioning speed is very much lower than the para-
meter speed limit, the acceleration/deceleration time is com-
paratively short.
Acceleration/deceleration time is valid for zeroing, positioning,
and jog operations.
For interpolation positioning, the acceleration/deceleration
time for the axis with the longer travel is valid. (The acceleration/
deceleration time for the other axis is ignored.)
3-1 3
--
IB
INN
€6101-A