Mitsubishi Electric SV13/22 Programming Manual page 156

7. POSITIONING CONTROL
POINTS
(1) Speed limit value and positioning speed
• The set speed limit value applies to the long-axis speed.
• Note that the combined speed may exceed the speed limit value if long-axis speed designation is
used.
Example
During 2-axes linear interpolation with the following settings, the combined speed exceeds the
speed limit value.
Axis 1 travel value: 100 PLS
Axis 2 travel value: 200 PLS
Long-axis speed: 50 PLS s
Speed limit value: 55 PLS /s
In this example, the reference axis is Axis 2, which has
the greatest travel value; therefore the set speed limit
value applies to Axis 2.
In this case, the positioning speed of each axis and
the combined speed are as follows:
Axis 1 positioning speed: (100/200)
Axis 2 positioning speed: 50 PLS/s
Combined speed: 25
Axis 1 positioning speed
The combined speed exceeds the speed limit value setting of 55.
(2) Relationship between speed limit value, acceleration time, deceleration time, and rapid stop
deceleration time
• The actual acceleration time, deceleration time, and rapid stop deceleration time are determined
by the long-axis speed setting.
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×
+ 50
2 2
= 55.9 PLS/s
Axis 2 positioning speed
Speed
Positioning
speed (long-
axis speed)
1)
2)
search engine
50 = 25 PLS/s
Combined speed
Speed limit value
Rapid stop
generated
1) Actual acceleration time
2) Set acceleration time
3) Actual deceleration time
Time
4) Set deceleration time
5) Actual rapid stop
3)
5)
6) Set rapid stop
6)
4)
7 − 4
[Program Example]
<K 2 >
INC -2
Axis 1, 100
Axis 2, 200
Long-axis speed 50
deceleration time
deceleration time
(PLS)
(PLS)
(PLS/s)