Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 29

Deceleration stop
The output axis decelerates to a stop according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop
group 3 rapid stop selection". The deceleration time is set in "[Pr.446] Synchronous control deceleration time", and rapid stop
deceleration time is set in either "[Pr.36] Rapid stop deceleration time" or "[Pr.446] Synchronous control deceleration time",
whichever is shorter. The slope of deceleration is as follows.
Slope at deceleration =
Deceleration time (Rapid stop deceleration time)
When the deceleration stop starts, the cam axis position value per cycle is not updated, and only the command position value
is updated. Therefore, the path of the command position value is drawn regardless the cam operation with deceleration stop.
The input axis must be stopped when the output axis is decelerated to stop synchronizing with the input axis.
[Md.407] Cam axis
position value
per cycle
[Md.20] Command position
value
(Cam operation)
[Md.22] Speed command
[Cd.380] Synchronous
control start
(Target axis bit)
Axis stop signal
BUSY signal
"[Pr.8] Speed limit value"
t
t
t
Deceleration stop
1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.3 Operation Method of Synchronous Control
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