Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 370

• The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which
acceleration/deceleration takes is fixed, even if the command speed differs.
V
(1) Rapid stop deceleration time in parameter block, completion point specification method for speed change
point, and S-curve acceleration/deceleration processing and parameters are invalid in the fixed acceleration/
deceleration time method.
(2) The speed processing for each axis is as shown below in positioning operation (continuous trajectory) as
shown in the following figure.
Axis 2
• When the rapid stop command is executed by the setting "deceleration time < rapid stop deceleration time"
during continuous trajectory control, the point data currently executed in the middle of deceleration, and the
positioning may be completed suddenly as a speed "0".
In the case of, "deceleration time  rapid stop deceleration time", the above operation is not executed. For
the following condition, note that the speed may become 0 in the middle of deceleration.
Travel value by the point data currently executed at the rapid stop command (Up to 9 points) < speed at rapid
stop command input  rapid stop deceleration time / 2
[Operation pattern]
S tart accept flag
Positioning complete
signal
Rapid stop command
Vector speed
Deceleration speed at
the normal stop
5 POSITIONING CONTROL
368
5.17 Continuous Trajectory Control
Y
Ay
X
Ax
Axis 1
Positioning operation
ON
OFF
OFF
Acceleration/deceleration time is fixed
V
Axis 1
V
Continuous-trajectory control processing of each axis
ON
(1) (2) (3) (4) (5) (6)
t
Address Ax
t
Ax
Axis 2
Address Ay
t
Ay
OFF
ON
(7) (8)