Mitsubishi Electric M700V Series Programming Manual page 420

13. Program Support Functions
Pre-interpolation acceleration/deceleration
Acceleration/deceleration control is carried out for the movement commands to suppress the
impact when the machine starts or stops moving. However, with conventional post-interpolation
acceleration/deceleration, the corners at the block seams are rounded, and path errors occur
regarding the command shape.
In the high-accuracy control function mode, acceleration/deceleration is carried out before
interpolation to solve the above problems. This pre-interpolation acceleration/deceleration enables
machining on a machining path that more closely follows the command.
The acceleration/deceleration time can be reduced because constant inclination acceleration/
deceleration is carried out.
(1) Basic patterns of acceleration/deceleration control in linear interpolation commands
Normal mode
High-accuracy
control mode
G1btL/2
G1btL
Acceleration/deceleration
waveform pattern
G1tL
G1t1
Time
G1bF
G1bF/2
13.15 High-accuracy Control ; G61.1, G08
(a) Because of the constant time constant
acceleration/deceleration, the rising
clamp
edge/falling edge of the waveform becomes
more gentle as the command speed
becomes slower.
(b) The acceleration/deceleration time constant
can be independently set for each axis.
Linear type, exponential function type, or
both can be selected.
Note that if the time constant of each axis is
not set to the same value, an error will occur
G1tL in the path course.
Time
clamp
#2002 clamp : G01 clamp speed
#2007 G1tL
#2008 G1t1
G1t1
(a) Because of the constant inclination type
linear acceleration/deceleration, the
clamp
acceleration/deceleration time is reduced as
the command speed becomes slower.
(b) The acceleration/deceleration time constant
becomes one value (common for each axis)
in the system.
#2002 clamp : G01 clamp speed
#1206 G1bF
#1207 G1btL : Acceleration/deceleration time
G1btL/2
(Note) G1bF and G1btL are values for specifying
the inclination of the acceleration/
G1btL
deceleration time; the actual cutting feed
maximum speed is clamped by the
Time
"#2002 clamp" value.
408
: Linear type acceleration/
deceleration time constant
: Exponential type acceleration/
deceleration time constant
: Target speed
to target speed