Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 449

Cautions
• In the following cases acceleration time or deceleration time does not change when a speed change is executed. The
acceleration time or deceleration time at the time of speed change accept is maintained.
• When setting of the acceleration/deceleration time change enable device was omitted.
• When setting of new acceleration time value device or new deceleration time value device was omitted.
• When the device set by new acceleration time value device or new deceleration time value device is set to "0".
V
Acceleration/deceleration
OFF
time change enable device
New acceleration time
value device
New deceleration time
0
value device
Speed change request
OFF
(CHGV)
• During interpolation control, change of acceleration/deceleration time is executed by the acceleration/deceleration time
change parameter of the axis No. specified with the speed change command.
• Acceleration/deceleration time change function becomes invalid for axes executing the following servo instructions:
• Circular interpolation control (including point during CPSTART)
• Helical interpolation control (including point during CPSTART)
• Speed control with fixed position stop
• Acceleration/deceleration time change function becomes invalid for axes executing the following acceleration/deceleration
methods:
• FIN acceleration/deceleration
• Advanced S-curve acceleration/deceleration control
• If a negative speed change request is executed acceleration/deceleration time change function is only valid for axes
executing speed control (), or speed control (). If a negative speed change request is executed for axes executing other
instructions, acceleration/deceleration time change function becomes invalid. Also, if an acceleration/deceleration time
change is performed for axes operating at a negative speed, acceleration/deceleration time change function becomes
invalid.
V
Acceleration/deceleration time change is not executed at negative speed
change request. (Except speed control(³) and speed control(´).)
[pulse/s]
200000
100000
0
-100000
-200000
ON
Acceleration/deceleration
OFF
time change enable device
New acceleration time
1000
value device
New deceleration time
1000
value device
Speed change request
OFF
(CHGV)
Change speed
Change of acceleration
time is not executed
ON
0
500
ON
Acceleration/deceleration
time change is executed
Acceleration/deceleration time
change is not executed for during
operation at negative speed.
2000
2000
ON
-100000 -200000
Decelerate at
deceleration time
after change
t
t
200000
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Acceleration/Deceleration Time Change Function
7
447