Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

Page: 233 / 482

3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
231
3
■
Speed control with fixed position stop processing
The "fixed position stop acceleration/deceleration time" set in the servo program is used during acceleration/deceleration
processing when a positioning start, speed change request (CHGV) or fixed position stop command ON occurs.
It operates in the fixed acceleration/deceleration time method.
• Acceleration/deceleration processing in the fixed acceleration/deceleration time method
Actual acceleration time, deceleration time and maximum acceleration are shown below.
• Acceleration processing from zero speed and deceleration processing to zero speed (fixed time method)
Operation for positioning to fixed position stop command position at servo program start is shown below.
Acceleration time Specified acceleration time (AT)

(100.0 + A1R + A2R)

100.0
Deceleration time Specified deceleration time (DT)

(100.0 + D1R + D2R)

100.0
Maximum acceleration Speed difference

Specified acceleration/deceleration time
Speed change command Speed
difference Acceleration/
deceleration time Maximum
acceleration Operation
(1) Servo program start (Acceleration
from speed 0 to V
0
)
V
0
a V
0

a Actual acceleration time
"a

(100.0 + A1R + A2R)

100.0"
(2) Positioning to fixed position stop
command position (Deceleration
from speed V
0
to 0)
-V
0
b (-V
0
)

b Actual deceleration time
"b

(100.0 + D1R + D2R)

100.0"
Speed
0
0
Time
Command speed V
0
OFF
(1) ON
Acceleration
Time
V
0
÷
a
(-V
0
)
÷
b
Servo program start
ON
OFF
(2)
Fixed position stop command
device
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
a b
b
a
a
×
(100.0 + A1R + A2R)
÷
100.0
b
×
(100.0 + D1R + D2R)
÷
100.0