Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Acceleration/Deceleration Time Change Function
• After changing deceleration time, operations for a stop or rapid stop are shown below:
If changing deceleration time by the acceleration/deceleration time change function, regardless of whether the "Rapid stop
deceleration time setting error invalid flag (SM805)" is ON or OFF, deceleration time can be changed. Therefore, if the setting
values of the rapid stop deceleration time are larger than the deceleration time change value after change, an overrun may
occur.
Refer to the Speed limit value, acceleration time, deceleration time and rapid stop deceleration time for details of operation.
(

Page 218 Speed limit value, acceleration time, deceleration time and rapid stop deceleration time)
• When the current value is to execute a deceleration stop from current command speed, if the current value exceeds the
stroke limit range, a minor error (error code: 1993H, 1995H) occurs, and deceleration stop is made before a stroke limit.
However, if the deceleration distance after the deceleration time change is longer than the distance until the stroke limit,
deceleration stop exceeds the stroke limit. Execute a speed change at a position where enough movement amount until the
stroke limit is ensured.
• During a positioning operation where acceleration/deceleration time is changed, and the deceleration distance to the final
positioning address for the output speed is not enough, a minor error (error code: 1A58H) occurs and the operation
immediately stops at the final positioning address. Execute a speed change at a position where enough movement amount
until the stop position is ensured.
• If acceleration/deceleration time is changed during speed control in speed-position switching (VPF/VPR), control continues
at the acceleration/deceleration times changed during speed control even after switching from speed to position control. To
control with the acceleration/deceleration time of the start after switching to position control, execute speed change again.
• If acceleration/deceleration time is changed during continuous trajectory control (CPSTART), control at the "acceleration/
deceleration time after change" occurs only between the points where change was executed. From the next point onward,
control at the "acceleration/deceleration time at start" set beforehand occurs. If the "[Rq.1122] Speed switching point
specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control (CPSTART), speed change is executed up to
the speed switching point at the "acceleration/deceleration time after change". (If the acceleration/deceleration time is
changed to a large value, speed change may not be completed up to the speed switching point).
Operation Description
Stop Deceleration stop by the deceleration speed after change.
Rapid stop Rapid stop by parameter setting values at start.
t
V
10 20 30
0 2000
0 500
75000
100000
[pulse/s]
150000
200000
50000
75000
Control at deceleration time after change
OFF
ON
OFF
ON
Acceleration/deceleration
time change enable device
New acceleration time
value device
New deceleration time
value device
Speed change request
(CHGV)
Change speed
[Md.25] M-code
(R: 48n/Q: D13+20n)
[Rq.1122] Speed switching
point specified flag
(R: M30040/Q: M2040)
ON
Control at deceleration
time at start
[K101]
CPSTART-1
Axis
Speed
S.R.
INC-1
Axis
Travel
Speed
M-code
INC-1
Axis
Travel
Speed
M-code
INC-1
Axis
Travel
Speed
M-code
CPEND
1
1500000 pulse/s
2000000 pulse/s
1000 ms
1000 ms
1
800000 pulse
100000 pulse/s
10
1
1000000 pulse
150000 pulse/s
20
1
600000 pulse
50000 pulse/s
30