Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 232

When the rapid stop command turns ON during deceleration stop processing of advanced S-curve
acceleration/deceleration, timing may be such that a rapid stop will take longer than the advanced S-curve
deceleration.
In this case, the advanced S-curve deceleration stop processing will automatically continue instead of using
the rapid stop processing.
■Speed change processing
Operation in which a speed change is executed during each section of acceleration is shown below.
Speed change V
Speed
Command speed V
0
(Before speed change)
Command speed V
1
(After speed change)
0
Acceleration
AmaxA
0
Pattern Speed change
command
(1) Speed change V
(Acceleration)
(2)
(3)
3 PARAMETERS FOR POSITIONING CONTROL
230
3.13 Parameter Block
(Acceleration)
1
(1) (2) (3)
Before speed change
(1), (2)
(3)
(1), (2)
Acceleration/deceleration processing at
speed change
Acceleration section 1 (Increasing acceleration
1
section)
Maximum acceleration section
Maximum acceleration section (When the speed
change occurs in situations where V
during the decreasing acceleration section.)
(3)
Time
Before speed change
Time
Operation
• Length of maximum acceleration section is adjusted to reach
speed V
• The acceleration is decreased until the acceleration reaches
zero.
• The maximum acceleration section is interrupted, and the
will surpass V acceleration is decreased until the acceleration reaches zero.
0 1
• The deceleration processing is executed to reach speed V
at acceleration end.
1
.
1