Mitsubishi Electric MELSEC Q Series Programming Manual page 206

6 POSITIONING CONTROL
S-curve ratio can be set by the servo program is following two methods.
(a) Direct specification
S-curve ratio is set directly as a numeric value from 0 to 100.
<K 10>
INC-2
Axis 1,
Axis 2,
Vector speed
S-curve ratio
(b) Indirect specification
S-curve ratio is set by the contents of data registers.
The usable data registers are shown below.
Word devices
D
W
#
U \G
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for each CPU.
Refer to Chapter 2 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for the user setting area points of the Multiple CPU
high speed transmission area.
<K 10>
ABS-1
Axis 1,
Speed
S-curve ratio
2 axes linear interpolation control
Axis used . . . . . . . . . . Axis 1, Axis 2
100000
250000
1000 Travel value to . . . . . . .
80 stop position
Positioning speed . . . . 1000
S-curve ratio . . . . . . . . 80[%]
Usable devices
0 to 8191
0 to 1FFF
0 to 7999
10000 to (10000+p-1)
1 axis linear positioning control
Axis used . . . . . . . . . . . . . Axis 1
30000
400000
Positioning address . . . . . 30000
D3487
Positioning speed . . . . . . . 400000
Indirect specification by word devices
6 - 19
Axis 1 . . . 100000
Axis 2 . . . 250000
(Note-1)