Automatic Deceleration - Mitsubishi Electric MELSEC iQ-R Series User Manual

Automatic deceleration

Decelerating to a speed of "0.0" to stop at the specified target position is called automatic deceleration.
During automatic deceleration, AxisName.Md.AutoDeceleration is TRUE.
When automatic deceleration is performed, the deceleration may go ahead or behind the target deceleration. Therefore,
AxisName.Md.SetAcceleration may exceed AxisName.Md.TargetDeceleration.
Besides, the current speed may be continued due to the compensation of the remaining distance during automatic
deceleration of the trapezoidal acceleration/deceleration. In this case, SetAcceleration will be 0.
Term Description
Deceleration stop distance Distance required to a deceleration stop to the target position
Total movement amount Movement amount from start of the FB to reaching the target position
Cumulative movement Movement amount from start of the FB to the current position
amount
Next  movement amount
Movement amount in the next operation cycle
Automatic deceleration starts
Speed
Target speed (V)
Total movement amount
Automatic decelerating flag
Automatic
decelerating
Automatic deceleration starts when the following condition is satisfied.
Deceleration stop distance > Total movement amount - Cumulative movement amount - Next  movement amount
When a multiple start is in execution, automatic deceleration processing is performed when decelerating to the target position
during execution of the final positioning point.
Time
Target position
Deceleration
stop distance
Time
9 RELEVANT FUNCTIONS TO VELOCITY
9.1 Acceleration/deceleration Processing Function
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