Mitsubishi Electric MELDAS C6 Programming Manual page 36

6. Interpolation Functions
■ When "inpos" = "0"
Upon completion of the rapid traverse (G00), the next block will be executed after the
deceleration check time (Td) has elapsed. The deceleration check time (Td) is as
follows, depending on the acceleration/deceleration type.
(a) Linear acceleration/linear deceleration
Previous block
(b) Exponential acceleration/linear deceleration
Previous block
(c) Exponential acceleration/exponential deceleration
Previous block
Ts : Acceleration/deceleration time constant
Ts
Td : Deceleration check time
Td
2 × Ts
Td
Ts
Td
Where Ts is the acceleration time constant, α = 0 to 14ms
The time required for the deceleration check during rapid traverse is the longest
among the rapid traverse deceleration check times of each axis determined by the
rapid traverse acceleration/deceleration time constants and by the rapid traverse
acceleration/deceleration mode of the axes commanded simultaneously.
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6.1 Positioning (Rapid traverse)
Td = Ts + α
Next block
Td = Ts + ( 0 ~ 14ms)
Td = 2 × Ts + α
Next block
Ts
Ts : Acceleration/deceleration
time constant
Td : Deceleration check time
Td = 2 × Ts + ( 0 ~ 14ms)
Next block
Ts : Acceleration/deceleration
time constant
Td : Deceleration check time
Td = 2 × Ts + ( 0 ~ 14ms)
Td = 2 × Ts + α