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Mitsubishi Electric QD77MS User Manual Page 139

Simple motion module.
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Slippage method smoothing
Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON,
and with slippage at clutch OFF when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the
clutch changes, therefore, positioning control at clutch ON/OFF is not affected by speed
changes.
Processing proceeds with direct operation after completing clutch ON smoothing.
The travel value between the clutch turning ON and OFF is as follows after clutch
smoothing.
Travel value after
clutch smoothing
Item
Main shaft clutch Auxiliary shaft clutch
[Pr.413]
Slippage
Slippage amount
amount at
at main shaft
clutch ON
clutch ON
[Pr.414]
Slippage
Slippage amount
amount at
at main shaft
clutch OFF
clutch OFF
(Note-1): Main input axis position units (Refer to Chapter 2)
(Note-2): Auxiliary shaft position units (Refer to Chapter 2)
(Note-3): Cam axis cycle units (Refer to Section 4.5.1)
(1) Slippage method exponential curve smoothing
Set "3: Slippage (Exponential)" in the clutch smoothing method.
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch processing
Speed after clutch smoothing
Item
Clutch ON/OFF status
Clutch smoothing status
Travel value before
+ (Slippage amount at OFF - Slippage amount at ON)
=
clutch smoothing
Setting item
[Pr.430]
Slippage amount at
auxiliary shaft clutch
ON
[Pr.431]
Slippage amount at
auxiliary shaft clutch
OFF
Slippage amount at clutch ON
Main shaft clutch
[Md.420] Main shaft clutch ON/OFF
status
[Md.421] Main shaft clutch smoothing
status
4 - 35
Chapter 4 Synchronous Control
Setting details
• For smoothing with a
slippage method, set the
slippage amount at clutch
ON.
• For smoothing with a
slippage method, set the
slippage amount at clutch
OFF.
Slippage amount at clutch OFF
[Md.423] Auxiliary shaft clutch ON/OFF
status
[Md.424] Auxiliary shaft clutch smoothing
status
Setting value
Set in decimal.
0 to 2147483647
[Main input axis position
(Note-1)
units
/auxiliary shaft
(Note-2)
position units
or cam
(Note-3)
axis cycle units
]
t
t
Auxiliary shaft clutch

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