Mitsubishi Electric MELSEC Q Series Programming Manual page 208

6 POSITIONING CONTROL
Advanced S-curve acceleration/deceleration can be set by the servo program is
following two methods.
(a) Direct specification
Advanced S-curve acceleration/deceleration system and advanced S-curve
acceleration/deceleration ratio are set directly as a numeric value.
Setting items
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
(Note): ASC Accel.1 + ASC Accel.2  100.0%, ASC Decel.1 + ASC Decel.2  100.0%
<K 10>
INC-2
Axis 1, 100000
Axis 2, 250000
Vector speed
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
(b) Direct specification
Advanced S-curve acceleration/deceleration system and advanced S-curve
acceleration/deceleration ratio is set by the contents of data registers.
Word devices
D
W
#
U \G
(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission
area for the 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
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
0: Trapezoidal/S-curve acceleration/deceleration
1: Advanced S-curve acceleration/deceleration
2 axes linear interpolation control
Axis used ...................... Axis1, Axis 2
Trabel value to stop
1000
position
1
Positioning speed ............. 1000
20.0
50.0
20.0
Advanced S-curve
50.0
acceleration/deceleration
Usable devices
0 to 8191
0 to 1FFF
0 to 7999
10000 to (10000+p-1)
1 axis linear positioning control
30000
Axis used ...................... Axis1
400000
Positioning address ...... 30000
D3000
Positioning speed ............. 400000
D3001
D3002
Indirect specification by word devices
D3003
D3004
6 - 21
Setting range
(Note)
0.0 to 100.0[%]
Axis ...... 100000
Axis ...... 250000
ASC System ........... 1
ASC Accel.1 ........... 20.0
ASC Accel.2 ........... 50.0
ASC Decel.1 ........... 20.0
ASC Decel.2 ........... 50.0
(Note-1)