Mitsubishi Electric MELSEC Q Series Programming Manual page 152

4 PARAMETERS FOR POSITIONING CONTROL
Pattern Speed change command
1)
2)
Speed change V
1
(Acceleration)
3)
POINTS
When the rapid stop command turns ON during deceleration stop processing of
advanced S-curve acceleration/deceleration, timing may be such that a rapid stop
will take longer than the advanced S-curve deceleration.
In this case, the advanced S-curve deceleration stop processing will automatically
continue instead of using the rapid stop processing.
(3) Speed change processing
Operation in which a speed change is executed during each section of
acceleration is shown below.
Command speed V
(Before speed change)
Command speed V
(After speed change)
AmaxA
Acceleration/deceleration processing
at speed change
Acceleration section 1
(Increasing acceleration section)
Maximum acceleration section
Maximum acceleration section
(When the speed change occurs in
situations where V
0
during the decreasing acceleration
section.)
Speed change V (Acceleration)
1
1) 2) 3)
Speed
0
1
0
Acceleration
1), 2)
0
• Length of maximum acceleration section is adjusted to
reach speed V
• The acceleration is decreased until the acceleration
reaches zero.
• The maximum acceleration section is interrupted, and the
acceleration is decreased until the acceleration reaches
will surpass V
1
zero.
• The deceleration processing is executed to reach speed V
4 - 31
Before speed change
3)
1), 2)
3)
Before speed change
Operation
at acceleration end.
1
Time
Time
1.