Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 119

■Time constant method linear acceleration/deceleration smoothing
Set "2: Time constant method (Linear)" in the clutch smoothing method.
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch processing
Speed after clutch smoothing
Slippage method smoothing
Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF
when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore,
positioning control at clutch ON/OFF is not affected by speed changes.
Processing proceeds with direct operation after completing clutch ON smoothing.
The travel value between the clutch turning ON and OFF is as follows after clutch smoothing.
Travel value after clutch smoothing=Travel value before clutch smoothing+(Slippage amount at OFF-Slippage amount at ON)
Item Setting item
Main shaft clutch
Slippage amount at [Pr.413] Slippage amount at main
clutch ON shaft clutch ON (R:
D42660+160n, D42661+160n/Q:
D15020+150n, D15021+150n)
Slippage amount at [Pr.414] Slippage amount at main
clutch OFF shaft clutch OFF (R:
D42662+160n, D42663+160n/Q:
D15022+150n, D15023+150n)
*1 Main input axis position units (Page 31 Servo input axis position units, Page 39 Command generation axis position units,
Page 55 Synchronous encoder axis position units)
*2 Auxiliary shaft position units (Page 31 Servo input axis position units, Page 39 Command generation axis position units,
Page 55 Synchronous encoder axis position units)
*3 Cam axis cycle units (Page 126 Cam axis cycle units)
■Slippage method exponential curve smoothing
Set "3: Slippage (Exponential)" in the clutch smoothing method.
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch processing
Speed after clutch smoothing
Slippage amount at clutch ON
Item Main shaft clutch
Clutch ON/OFF status [St.420] Main shaft clutch ON/OFF status (R: M38960+16n/Q:
M10560+10n)
Clutch smoothing status [St.421] Main shaft clutch smoothing status (R: M38961+16n/Q:
M10561+10n)
ON
OFF
ON
OFF
Clutch smoothing time constant
Auxiliary shaft clutch
[Pr.430] Slippage amount at
auxiliary shaft clutch ON (R:
D42682+160n, D42683+160n/Q:
D15042+150n, D15043+150n)
[Pr.431] Slippage amount at
auxiliary shaft clutch OFF (R:
D42684+160n, D42685+160n/Q:
D15044+150n, D15045+150n)
ON
OFF
ON
OFF
t
t
Setting details
For smoothing with a
slippage method, set the
slippage amount at
clutch ON.
For smoothing with a
slippage method, set the
slippage amount at
clutch OFF.
t
t
Slippage amount at clutch OFF
Auxiliary shaft clutch
[St.423] Auxiliary shaft clutch ON/OFF status (R: M38962+16n/
Q: M10562+10n)
[St.424] Auxiliary shaft clutch smoothing status (R:
M38963+16n/Q: M10563+10n)
Setting value
0 to 2147483647
[Main input axis position units
auxiliary shaft position units
*3
cam axis cycle units ]
6 SYNCHRONOUS CONTROL
6.3 Clutch
6
*1
/
*2
, or
117