Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 255

Speed limit value and positioning speed
• The setting speed limit value applies to the long-axis speed.
• Be careful that the vector speed may exceed the speed limit value at the long-axis speed specification.
(Example)
The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.
<K 2 >
INC-2
Axis 1, 100
Axis 2, 200
Long-axis speed 50
Setting item
Axis 1 travel value
Axis 2 travel value
Long-axis speed
Speed limit value
In this example, since the reference-axis is axis 2 of the largest travel value, it is controlled with the speed limit
value specified with axis 2.
The positioning speed and vector speed for each axis are as follows:
Setting item
Axis 1 positioning speed
Axis 2 positioning speed
Vector speed
Axis 1 positioning
speed
Axis 2 positioning speed
The vector speed exceeds the speed limit value setting of 55.
Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time.
• The real acceleration time, deceleration time and rapid stop deceleration time are set by the setting long-
axis speed.
Speed limit value
Positioning speed (long-axis speed)
Speed
(1)
(2)
[pulse]
[pulse]
[pulse/s]
Setting value
100 [pulse]
200 [pulse]
50 [pulse/s]
55 [pulse/s]
Speed
100 / 200 × 50 = 25 [pulse/s]
50 [pulse/s]
2 2
25 + 50 = 55.9 [pulse/s]
Vector speed
Rapid stop cause occurrence
(1) Real acceleration time
(2) Setting acceleration time
(3) Real deceleration time
Time
(4) Setting deceleration time
(3)
(5) Real rapid stop deceleration time
(5)
(6) Setting rapid stop deceleration time
(6)
(4)
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
5
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