Interpolation Operation And Acceleration/Deceleration Processing - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Interpolation operation and acceleration/deceleration processing

This section explains interpolation operation processing.
Flowchart of interpolation operation and acceleration/deceleration processing
Machine interpolation operation and acceleration/deceleration are processed as follows.
Motion CPU
(Interpolation operation processing)
Composite speed and acceleration/deceleration processing
Acceleration/deceleration is performed according to the composite speed.
The following two methods are available for acceleration/deceleration processing.
■Trapezoidal acceleration/deceleration processing
A conventional processing method performing linear rapid acceleration and rapid stops.
■S-curve acceleration/deceleration processing
By setting the S-curve ratio as a parameter, acceleration/deceleration is processed in a smoother manner compared to
trapezoidal acceleration/deceleration processing.
Acceleration/deceleration time and S-curve ratio settings can be made in the parameter block or in machine positioning data.
• Refer to the following for details on trapezoidal acceleration/deceleration processing and S-curve
acceleration/deceleration processing.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• In machine control, advanced S-curve acceleration/deceleration cannot be used. When advanced S-curve
acceleration/deceleration is set, trapezoidal acceleration/deceleration is processed.
Acceleration/
JNT1
Gear ratio
deceleration processing
conversion
after interpolation
JNT2 Acceleration/
Gear ratio
deceleration processing
conversion
after interpolation
Acceleration/
JNT3
Gear ratio
deceleration processing
conversion
after interpolation
Acceleration/
JNT4
Gear ratio
deceleration processing
conversion
after interpolation
JNT5 Acceleration/
Gear ratio
deceleration processing
conversion
after interpolation
Acceleration/
JNT6
Gear ratio
deceleration processing
conversion
after interpolation
Servo Servo
amplifier motor
Servo Servo
amplifier motor
Servo Servo
amplifier motor
Servo Servo
amplifier motor
Servo Servo
amplifier motor
Servo Servo
amplifier motor
Servo feedback value
7 POSITIONING CONTROL
7.1 Basics of Positioning Control
7
71