Mitsubishi Electric MELSEC Q Series Programming Manual page 146

4 PARAMETERS FOR POSITIONING CONTROL
[Actual acceleration time]
Pattern Positioning speed
1) Positioning speed = S.R.
2) Vacc < Positioning speed < S.R.
3) Positioning speed = Vacc
4) Positioning speed < Vacc
[Actual deceleration time]
Pattern Positioning speed
1) Positioning speed = S.R.
2) Vdac < Positioning speed < S.R.
3) Positioning speed = Vdac
4) Positioning speed < Vdac
The actual acceleration/deceleration time for each pattern (Fig.4.5 pattern 1 to 4) based
on positioning speed is shown below.
• It accelerates with the acceleration section
1, maximum acceleration section and
acceleration section 2.
• Maximum acceleration section is short
than pattern 1.
• No maximum acceleration section
• It accelerates with only acceleration
section 1 and acceleration section 2.
• No maximum acceleration section
• Maximum acceleration and acceleration
increase/decrease time of acceleration
section 1 and 2 are shortened.
• It accelerates with the deceleration section
1, maximum negative acceleration section
and deceleration section 2.
• Maximum negative acceleration section is
shortened than pattern 1.
• No maximum negative acceleration
section.
• It decelerates with only deceleration
section 1 and deceleration section 2.
• No maximum negative acceleration
section.
• Maximum acceleration of deceleration
section 1 and deceleration section 2, and
negative acceleration increase/decrease
time are shortened.
(2) When the positioning speed is slower than the speed limit value, adjust the
acceleration in the following procedure.
(a) Shorten time of maximum acceleration section. (Fig.4.5 Pattern 2, 3)
(b) Reduce maximum acceleration and acceleration increase/decrease time of
acceleration section 1 and 2. (Fig.4.5 Pattern 4)
Description
AAT -
(A1T + A2T)
Description
ADT -
(D1T + D2T)
4 - 25
Actual acceleration time Actual maximum acceleration
AAT
(S.R. - Positioning speed)
AmaxA
A1T + A2T
AmaxA
(Positioning speed/Vacc)
Negative actual maximum
Actual Deceleration time
ADT
(S.R. - Positioning speed)
DmaxA
D1T + D2T
DmaxA
(Positioning speed/Vdac)
AmaxA
(Positioning speed/Vacc)
acceleration
DmaxA
(Positioning speed/Vdac)