Mitsubishi Electronics Q172HCPU, Q173HCPU manual 301

6 POSITIONING CONTROL

POINT

(1)The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed

differs.

V

t

Acceleration/deceleration time is fixed

(a)The following processing and parameters are invalid in the fixed acceleration/deceleration time method.

•Rapid stop acceleration/deceleration time in parameter block

•Completion point specification method for speed change point

•S-curve acceleration/deceleration

(b)The speed processing for each axis is as shown below in positioning operation

(constant-speed) as shown in the following figure.

	Y				V
Ay						Axis 1
Axis 2
				X				Address Ax
									t
		Axis 1	Ax
							Ax

Positioning operation

V

Axis 2

Address Ay

Ay

t

Constant-speed control processing of each axis

(2)When the rapid stop command is executed by the setting "deceleration time < rapid stop deceleration time" during constant-speed control, the point data currently executed in the middle of deceleration, and the positioning may be completed suddenly as a speed "0".

In the case of, "deceleration time rapid stop deceleration time", the above operation is not executed.

Travel value by the point data currently executed at the rapid stop command

(Up to 9 points) < speed at rapid stop command input rapid stop deceleration time/2

[Operation pattern]

	ON
Start accept flag										OFF
Positioning complete	OFF									ON
signal		ON
Rapid stop command	OFF
		1)	2)	3)	4)	5)	6)	7)	8)

Combined-speed

Deceleration speed at the normal stop

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