Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 226

■Actual deceleration time
Positioning Pattern
speed
High (1)


Low
(2)
(3)
(4)
When the positioning speed is slower than the speed limit value, adjust the acceleration in the following procedure.
• Shorten time of maximum acceleration section. (Pattern (2), (3))
• Reduce maximum acceleration and acceleration increase/decrease time of acceleration section 1 and 2. (Pattern (4))
3 PARAMETERS FOR POSITIONING CONTROL
224
3.13 Parameter Block
Positioning Description
speed
Positioning It accelerates with the
speed = S.R. deceleration section 1,
maximum negative
acceleration section and
deceleration section 2.
Vdac < Maximum negative
Positioning acceleration section is
speed < S.R. shortened than pattern 1.
Positioning • No maximum negative
speed = Vdac acceleration section
• It decelerates with only
deceleration section 1 and
deceleration section 2.
Positioning • No maximum negative
speed < Vdac acceleration section
• Maximum acceleration of
deceleration section 1 and
deceleration section 2, and
negative acceleration
increase/decrease time are
shortened.
Actual Deceleration time
ADT
(S.R.-Positioning speed)
ADT -
DmaxA
D1T + D2T
(D1T+D2T) ×
(Positioning speed/Vdac) DmaxA ×
Negative actual maximum
acceleration
DmaxA
(Positioning speed/Vdac)