Mitsubishi Electric A173UHCPU Programming Manual page 153

7. POSITIONING CONTROL
POINTS
(1) Reference axis speed and positioning speed of other axes
• Note that the positioning speed of an axis with a greater travel value than the reference axis will
exceed the set reference axis speed.
(2) Indirect designation of reference axis
• The reference axis can be indirectly designated using word devices D and W. See Section
6.4.2.
(3) Relationship between speed limit value, acceleration time, deceleration time, and rapid stop
deceleration time
• The real acceleration time, deceleration time, and rapid stop deceleration time are determined
by the reference axis speed setting.
Speed
Speed limit value
Positioning speed(reference axis speed)
1)
5)
6)
2)
(3) Circular interpolation control
Under circular interpolation control, the angular speed is controlled to the set
speed.
Rapid stop genetrated
1) Real acceleration time
2) Set acceleratioon time
3) Real deceleration time
Time
4) Set deceleration time
3)
5) Real rapid stop
deceleratioon time
6) Set rapid stop
4)
deceleration time
7 − 6
Controlled to set speed