Speed Restriction Function; Joint Interpolation Speed Limit - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

9.3

Speed Restriction Function

Depending on the control classification, the function of the speed restriction is different. The valid speed restriction functions in
positioning control are shown below.
: Valid, : Invalid
Control Basic
details operation
Command Limits command
speed limit speed during
value operation.
Joint Automatically
interpolation adjusts movement
speed limit speed during
operation.
Servo motor Monitors the servo
maximum motor speed, and
speed stops operation.
check

Joint interpolation speed limit

During joint interpolation, speed is automatically adjusted so that the servo motor speeds of each joint axis do not become
excessive.
The servo motor speed of each joint axis is set in the servo motor maximum speed of each axis in [Motion Control Parameter]
 [Axis Setting Parameter]  "Expansion Parameter"  "Servo Motor Max. Speed Check Parameter". Refer to the following
for details of servo motor maximum speed check parameter.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• When the setting value of the servo motor maximum speed check parameter (servo motor maximum speed) is not "0",
during joint interpolation (ABS/, INC/), the servo motor speed of joint axes is automatically adjusted so that is does not
exceed the following.
Acceleration/deceleration
processing
Trapezoidal acceleration/deceleration
S-curve acceleration/deceleration
Trapezoidal acceleration/deceleration use
All joint axes are adjusted to a speed that does not exceed
Servo motor speed
"Motor maximum speed × 99.9[%]"
of joint axis
Motor maximum
speed × 99.9[%]
(Joint axis 2)
0
• When joint interpolation speed is automatically adjusted by the speed restriction function, the acceleration/deceleration is
"time-fixed acceleration/deceleration".
• When the setting value of servo motor maximum speed check parameter (servo motor maximum speed) is "0", this function
is invalid.
Control details Control classification
Joint
interpolation

Controls with the speed limit
value of the parameter block set
in the machine positioning data
or machine parameters.
Automatically adjusts the servo 
motor speeds of each joint axis
during joint interpolation so that
they do not become excessive.
Valid when movement amount
on the XYZ space is small.

Monitors the servo motor speed
of joint axes, and stops joint
axes.
Formula
(Servo motor speed)=(Servo motor maximum speed)99.9[%]
(Servo motor speed)=(Servo motor maximum speed)90.0[%]
: Operation when "Motor maximum speed
: Operation when "Motor maximum speed=0"
Joint axis 2
Joint axis 1
Linear Circular
interpolation interpolation
 
 
 
º
0"
t
9 AUXILIARY AND APPLIED FUNCTIONS
9.3 Speed Restriction Function
Reference
Sequential
coordinate
command
 Page 66
Positioning
speed
 Page 99
Joint
interpolation
speed limit
 Page
100 Servo
motor
maximum
speed check
99
9