Mitsubishi Electric Q172CPU Programming Manual page 155

7 TRANSMISSION MODULE
(b) Direct clutch
When the clutch is switched on/off, output to the output axis without the
acceleration/deceleration processing.
V
Input to clutch
V
Output to output axis by
the smoothing clutch for
time constant system
Output to output axis by
V
the smoothing clutch for
slippage system
(Exponential function
system)
Slippage
Output to output axis by
V
the smoothing clutch for
slippage system (Linear
acceleration/deceleration
system)
Slippage
V
Output to output axis by
the direct clutch
Fig. 7.1 Output to the Output axis by the Smoothing and Direct Clutch
REMARK
(1) Clutch ON/OFF state is shown below.
• Clutch ON state..........The state in which pulses inputted to the clutch are
• Clutch OFF state........The state in which pulses inputted to the clutch are not
Clutch ON
Acceleration by the smoothing processing
B
A
t *
Acceleration by the smoothing processing
Acceleration by the smoothing processing
Input side (Input axis) to the clutch
Clutch
Output axis
output to the output axis.
output to the output axis.
7 - 6
Clutch OFF
Deceleration by the
smoothing processing
Deceleration by the
smoothing processing
Deceleration by the
smoothing processing
* t: Smoothing time constant
A
Time until it becomes t = 100 = 63 [%]
B
t
t
t
t
t