Mitsubishi Electric MELSEC Q Series Programming Manual page 145

4 PARAMETERS FOR POSITIONING CONTROL
Speed
Trapezoidal acceleration/deceleration
S.R.
A2R
A1R
Maximum
acceleration
Acceleration
section
AmaxA
A1T
Fig.4.6 Maximum acceleration, advanced S-curve acceleration time/deceleration time
Abbre-
Item
viation
Maximum acceleration AmaxA
Maximum negative
DmaxA • Maximum negative acceleration at (rapid stop) deceleration
acceleration
Maximum negative
EmaxA
acceleration at rapid stop
Advanced S-curve
AAT
(Note-1)
acceleration time
Advanced S-curve
ADT
(Note-1)
deceleration time
Advanced S-curve rapid
stop deceleration time AET
(Note-1)
Time of acceleration
A1T
section 1
Time of acceleration
A2T
section 2
Time of deceleration
D1T
section 1
Time of deceleration
D2T
section 2
Velocity when
Vacc
"AAT=A1T+A2T"
Velocity when
Vdac
"ADT=D1T+D2T"
(Note-1): The actual acceleration time, actual deceleration time and actual rapid stop deceleration time are shortened when the positioning speed is less than the
speed limit value.
The maximum acceleration and advanced S-curve acceleration time/
deceleration time are calculated by parameters.
Trapezoidal acceleration
/deceleration
AT
AAT
A2T
Description
• Maximum acceleration
• Same acceleration as trapezoidal acceleration/deceleration
• Same negative acceleration as trapezoidal acceleration/
deceleration
• Time to reach the speed limit value (S.R.) after positioning
start. (At advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/
deceleration by using A1R or A2R.
• Time to stop from the speed limit value (S.R.) at (rapid stop)
deceleration. (Advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/
deceleration by using D1R or D2R.
• Time to reach acceleration peak from zero acceleration.
• Time to reach zero acceleration from acceleration peak.
• Time to reach negative acceleration peak from zero
acceleration.
• Time to reach zero acceleration from negative acceleration
peak.
• The velocity when total acceleration is only "A1T+A2T".
(No maximum acceleration section)
• The velocity when total acceleration is only "D1T+D2T".
(No maximum deceleration section)
Speed
Trapezoidal acceleration/deceleration
S.R.
D1R
D2R
Time
Maximum
negative
acceleration
Acceleration
section
Time
DmaxA
D1T
4 - 24
Trapezoidal acceleration
/deceleration
DT
ADT
D2T
(Note): Above is base on pattern 1.
Calculation expression
S.R. AT
S.R. DT
S.R. ET
AT (100.0 + A1R + A2R) 100.0
DT (100.0 + D1R + D2R) 100.0
ET (100.0 + D1R + D2R) 100.0
AT (A1R 100.0) 2
AT (A2R 100.0) 2
DT (D1R 100.0) 2
DT (D2R 100.0) 2
S.R. (A1R + A2R) 100.0
S.R. (D1R + D2R) 100.0
Time
Time
Operation
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