Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
When the rapid stop command turns ON during deceleration stop processing of advanced S-curve
acceleration/deceleration, timing may be such that a rapid stop will take longer than the advanced S-curve
deceleration.
In this case, the advanced S-curve deceleration stop processing will automatically continue instead of using
the rapid stop processing.
■ Speed change processing
Operation in which a speed change is executed during each section of acceleration is shown below.
Pattern Speed change
command Acceleration/deceleration processing at
speed change Operation
(1) Speed change V
1
(Acceleration)
Acceleration section 1 (Increasing acceleration
section) • Length of maximum acceleration section is adjusted to reach
speed V
1
at acceleration end.
• The acceleration is decreased until the acceleration reaches
zero.
(2) Maximum acceleration section
(3) Maximum acceleration section (When the speed
change occurs in situations where V
0
will surpass V
1
during the decreasing acceleration section.)
• The maximum acceleration section is interrupted, and the
acceleration is decreased until the acceleration reaches zero.
• The deceleration processing is executed to reach speed V
1
.
0
0
(1), (2)
(1), (2)
(3)
(3)
Command speed V
0
(Before speed change)
Command speed V
1
(After speed change)
Speed
Acceleration
AmaxA
Time
Time
(1) (2) (3)
Before speed change
Before speed change
Speed change V
1
(Acceleration)