Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 233

■Speed control with fixed position stop processing
The "fixed position stop acceleration/deceleration time" set in the servo program is used during acceleration/deceleration
processing when a positioning start, speed change request (CHGV) or fixed position stop command ON occurs.
It operates in the fixed acceleration/deceleration time method.
• Acceleration/deceleration processing in the fixed acceleration/deceleration time method
Actual acceleration time, deceleration time and maximum acceleration are shown below.
Specified acceleration time (AT)  (100.0 + A1R + A2R)  100.0
Acceleration time
Specified deceleration time (DT)  (100.0 + D1R + D2R)  100.0
Deceleration time
Speed difference  Specified acceleration/deceleration time
Maximum acceleration
• Acceleration processing from zero speed and deceleration processing to zero speed (fixed time method)
Operation for positioning to fixed position stop command position at servo program start is shown below.
Speed
Command speed V
0
0
Acceleration
÷ a
V
0
0
) ÷ b
(-V
0
(1) ON
Servo program start
OFF
Fixed position stop command
OFF
device
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
Speed change command
(1) Servo program start (Acceleration
from speed 0 to V )
0
(2) Positioning to fixed position stop
command position (Deceleration
from speed V to 0)
0
a
a × (100.0 + A1R + A2R) ÷ 100.0
(2)
a
Speed Acceleration/
difference deceleration time
V a
0
-V b
0
Time
b × (100.0 + D1R + D2R) ÷ 100.0
b
Time
ON
b
Maximum Operation
acceleration
 a
V Actual acceleration time
0
"a  (100.0 + A1R + A2R)  100.0"
)  b
(-V Actual deceleration time
0
"b  (100.0 + D1R + D2R)  100.0"
3 PARAMETERS FOR POSITIONING CONTROL
231
3.13 Parameter Block
3