Mitsubishi Electric MELSEC-L02SCPU User Manual page 50

(7) Pulses output from the LCPU
• Pulse trains are sparse when the servomotor is accelerating, and become denser as the servomotor
approaches the stable speed that has been set.
• At the stable speed, constant pulse trains are output.
• When the pulses output from the LCPU become sparse, the servomotor decelerates until pulses are no
longer output. There is a slight delay from the LCPU command pulses to the time the servomotor
decelerates and stops. This difference is necessary to ensure sufficient stopping accuracy and is referred to
as the "stop setting time"
48
V
Pulse droop amount
Acceleration
Pulse train Sparse
Servomotor speed
Pulse distribution
Deceleration
Dense Sparse
t
Stop setting time