Mitsubishi MELSEC-F Training Manual page 71

Positioning Control
2) The torque during constant speed is the torque required to move the load at the constant
speed.
Motor torque during constant speed = Load torque
3) The torque during deceleration is the torque required for deceleration and stop.
Torque during deceleration = Torque to decelerate load inertia moment + Load torque
4) How to obtain the cycle time
The representative machine operation pattern consists of acceleration, constant speed,
deceleration and rest.
The cycle time indicates the total time required for these actions.
(T )
ML
(T )
MD
(T )
L
(-T )
a
(T )
L
A-3