Speed/Acceleration/Deceleration - Mitsubishi Electric MELSEC Q Series User Manual

8 POSITIONING CONTROL

8.3.5 Speed/acceleration/deceleration

Axis 2
Linear interpolation
Pr.26
speed limit value
Command speed
Da.4
The speed of each axis in linear interpolation control is equal to the speed at which
" Command speed" set in the positioning data of reference axis is distributed
Da.4
with the movement amount.
Axis 2 Speed (F )
2
Fig. 8.1 Speed for linear interpolation control
POINT
(1) The vector speed is limited by "
the interpolation control.
(2) Also, the speed of each axis is limited by the parameter "
value" of each axis. In that case, the speed for the other axes is also cramped
to match the cramped axes.
Set the acceleration/deceleration time to the positioning data of reference axis in the
linear interpolation control.
Set " Acceleration time" and "
Da.2
" Linear interpolation speed limit value".
Pr.26
V
Actual
acceleration time
Da.2
Acceleration time
Fig. 8.2 Acceleration/deceleration time for linear interpolation control
Da.4 Command speed (F)
Axis 1 Speed (F )
1
Axis 1
Linear interpolation speed limit value" in
Pr.26
Deceleration time" within the range of
Da.3
8 - 14
MELSEC-Q
• Axis 1 movement amount: D
• Axis 2 movement amount: D
• Command speed: F
Da.4
F × D
Axis 1 speed: F1 =
D
F × D
Axis 2 speed: F1 =
D
Speed limit
Pr.10
1-axis speed
2-axis speed
Actual
deceleration time
Da.3
Deceleration time
1
2
1
2 2
+D
1 2
2
2 2
+D
1 2