Mitsubishi Electronics Q172HCPU, Q173HCPU 4.3.2 S-curveratio, 4 PARAMETERS FOR POSITIONING CONTROL

4 PARAMETERS FOR POSITIONING CONTROL

4.3.1Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time

The speed limit value is the maximum speed at the positioning/home position return. The acceleration time is the time taken to reach the set speed limit value from the start of positioning.

The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value.

Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration time are faster, because the positioning speed is faster than the speed limit value.

Speed Speed limit value

				Rapid stop cause occurrence					1) Real acceleration time
									Time take to reach the positioning speed
		Positioning							set in the servo program.
		speed set in							2) Real rapid stop deceleration time
		the servo							Time taken to effect a rapid stop from the
		program							positioning speed set in the servo program.
								Time	3) Real deceleration time
1) Real accele-
					2)	Real	rapid stop		Time taken to stop from the positioning
	ration time					deceleration time
		Set rapid stop							speed set in the servo program.
Set acceleration
time		deceleration
		time						3) Real deceleration time
			Set deceleration time

4.3.2 S-curve ratio

S-curve ratio can be set as the acceleration and deceleration processing method for S- pattern processing.

(Refer to Section 6.1.7 for details of S-curve acceleration/deceleration processing.) Setting range of the S-curve ratio is 0 to 100[%].

If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 100[%].

Errors are set in the error item information area (D9190).

Setting of the S-curve ratio enables acceleration/deceleration processing to be executed gently.

The graph for S-pattern processing is a sine curve as shown below.

V

Positioning speed

		Sine curve
					t
0
	Acceleration		Deceleration	Time
	time		time

4 - 13