Mitsubishi Electric Q172CPU Programming Manual page 249

Motion controller, virtual mode
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APPENDICES
• Section (0
A = Amcos
• Section
A =
Amcos
• Section
A =
Am + C0
• Section
A = Amsin
(d) One-dwelling curve
1) Double hypotenuse curve
A
=
(e) Non-dwelling curve
1) Single hypotenuse curve
A
=
(2) Cam curve coefficient
(a) Distorted trapezoid
• Section
0 < Section < 0.25 (1/4)
(b) Distorted sine
• Section
0 < Section < 0.5 (1/2)
(c) Distorted constant-speed (Section l < Section II)
• Section
0 < Section < 0.125 (1/4)
• Section
0 < Section
(d) Trapecloid
• Section
0 < Section < 0.25 (1/4)
(e) Reverse trapecloid
• Section
0 < Section < 0.25 (1/4)
1
T
Tc)
( 1
Tc
T)
2 (1
Tc)
(1
< T 1
Tc
Tb)
(1
Tb
T)
2Ta
(1
Tb < T 1
Ta )
(1
< T 1)
Ta
(1
T )
+ C0
2Ta
2
(cos
cos 2
T ) + C0
T
2
2
cos
T + C0
2
< 0.5 (1/2)
APP - 4
+ C0
+ C0
Default Value : 0.125 (1/8)
Default Value : 0.125 (1/8)
Default Value : 0.0625 (1/16)
Default Value : 0.25 (1/4)
Default Value : 0.125 (1/8)
Default Value : 0.125 (1/8)

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