Mitsubishi MELSEC-Q QD77MS, User Manual

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Chapter 1 Product Outline
Overview of acceleration/deceleration processing control
Acceleration/deceleration processing for the positioning processing, manual pulse-
generator processing, OPR processing and JOG processing is performed using the
user-specified method, acceleration time and deceleration time.
(1) Acceleration/deceleration method
There are two types of acceleration and deceleration processing: the trapezoidal
acceleration/deceleration processing method and S-curve acceleration/
deceleration processing method. A detailed parameter is used to set which
method is used. The specified acceleration/deceleration method is applied to all
accelerations and decelerations when starting and completing positioning
processing, OPR processing and JOG processing, as well as when changing the
speed.
(a) Trapezoidal acceleration/deceleration processing method
This is a method in which linear acceleration/deceleration is carried out
based on the acceleration time, deceleration time, and speed limit value set
by the user.
Velocity
Time
(b) S-curve acceleration/deceleration processing method
This method reduces the load on the motor when starting and stopping.
This is a method in which acceleration/deceleration is carried out gradually,
based on the acceleration time, deceleration time, speed limit value, and
"
Pr.35 S-curve ratio" (1 to 100%) set by the user.
Velocity
Time
(2) Acceleration time, deceleration time, sudden-stop deceleration time
(a) For types each of the acceleration time and deceleration time for positioning
control can be set using basic parameters 2 and detailed parameters 2.
• Acceleration time…….The time elapses before the speed of 0 reaches
the limit value.
• Deceleration time…….The time elapses before the speed at the limit
value reaches 0.
(b) The sudden-stop deceleration time (1 to 8388608 ms) is set using the
acceleration time/deceleration time setting size selection of detailed
parameters 2.