Mitsubishi Electric MELSEC Q Series Programming Manual page 153

4 PARAMETERS FOR POSITIONING CONTROL
Speed change command
1) Servo program start
(Acceleration from speed 0 to V
2) Positioning to fixed position stop
command position
(Deceleration from speed V
(4) Speed control with fixed position stop processing
The "fixed position stop acceleration/deceleration time" set in the servo program
is used during acceleration/deceleration processing when a positioning start,
speed change request (CHGV) or fixed position stop command ON occurs.
It operates in the fixed acceleration/deceleration time method.
(a) Acceleration/deceleration processing in the fixed acceleration/deceleration
time method
Actual acceleration time, deceleration time and maximum acceleration are
shown below.
Acceleration time
Deceleration time
Maximum acceleration
(b) Acceleration processing from zero speed and deceleration processing to
zero speed (fixed time method)
Operation for positioning to fixed position stop command position at servo
program start is shown below.
Command speed V
Acceleration
V
0
(-V )
0
Servo program start
Fixed position stop command
device
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
Speed
difference
V
0
)
0
-V
0
to 0)
0
Specified acceleration time (AT)
Specified deceleration time (DT)
Speed difference
Speed
0
0
a
0
b
a
a (100.0 + A1R + A2R)
ON
1)
OFF
OFF
a
Acceleration/ Maximum
deceleration time acceleration
a
b (-V
4 - 32
(100.0 + A1R + A2R)
(100.0 + D1R + D2R)
Specified acceleration/deceleration time
b (100.0 + D1R + D2R)
b
100.0
ON
2)
b
Operation
Actual acceleration time
V a
0
"a (100.0 + A1R + A2R)
Actual deceleration time
) b
0
"b (100.0 + D1R + D2R)
100.0
100.0
Time
100.0
Time
100.0"
100.0"