Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Speed limit value, acceleration time, deceleration time and rapid
stop deceleration time
The speed limit value is the maximum speed at the positioning/home position return.
The acceleration time is the time taken to reach the set speed limit value from the start of positioning.
The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value.
Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration time are faster, because the
positioning speed is faster than the speed limit value.
Speed
(1) Real acceleration time
Set acceleration
time
Set rapid stop
deceleration
time
Refer to the advanced S-curve acceleration/deceleration for acceleration time, deceleration time and rapid stop deceleration
time of the advanced S-curve acceleration/deceleration processing. (Page 221 Advanced S-curve acceleration/
deceleration)
The relationship between rapid stop time and deceleration time
Set a short time than the deceleration time for the rapid stop deceleration time.
■Deceleration time < Rapid stop deceleration time
• The warning (error code 0A54H) is stored in the "Latest self-diagnosis error (SD0)" at start, and the "Latest self-diagnosis
error detection (SM0)" is turned ON. When the rapid stop cause occurs during deceleration, the axis decelerates to a stop
in the deceleration time.
• The large value than deceleration time can be set as rapid stop deceleration time by turning ON the "Rapid stop
deceleration time setting error invalid flag (SM805)".
• Turn ON the "Rapid stop deceleration time setting error invalid flag (SM805)" before operation to use the rapid stop deceleration time setting error invalid.
(The setting value is input at start.)
• For the advanced S-curve acceleration/deceleration, operation is controlled with either small value of setting value for rapid stop deceleration time and
deceleration time even if the "Rapid stop deceleration time setting error invalid flag (SM805)" turns ON.
3 PARAMETERS FOR POSITIONING CONTROL
218
3.13 Parameter Block
Speed limit value
Rapid stop cause occurrence
Positioning
speed set in
the servo
program
(2) Real rapid stop
deceleration time
(3) Real deceleration time
Set deceleration time
Deceleration stop processing
Rapid stop cause
Stop
(1) Real acceleration time
Time take to reach the positioning speed
set in the servo program.
(2) Real rapid stop deceleration time
Time taken to effect a rapid stop from the
positioning speed set in the servo program.
Time
(3) Real deceleration time
Time taken to stop from the positioning
speed set in the servo program.