Mitsubishi Electric Q Series, Руководство по программированию

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7 - 5
7 TRANSMISSION MODULE
7.2 Clutch
The clutch is used to transmit/disengage the command pulse from drive module side to
output module side, and to control the operation/stop of servomotor.
There are two types for clutch: smoothing clutch and direct clutch.
These two clutches operate in the same way, but these have the difference in whether
the acceleration/deceleration processing by the smoothing processing is executed or
not at the switching of the clutch on/off.
(1) Smoothing clutch and direct clutch
(a) Smoothing clutch
When the clutch is switched on/off, output to the output axis with the
acceleration/deceleration processing (smoothing processing) set in the
clutch parameters.
There are following three systems for smoothing clutch.
1) Time constant system
2) Slippage system
• Exponential function system • Linear acceleration/deceleration system
(b) Direct clutch
When the clutch is switched on/off, output to the output axis without the
acceleration/deceleration processing.
V
V
V
V
B
A
t*
Input to clutch
Output to output axis by
the smoothing clutch for
time constant system
Clutch ON
Acceleration by the smoothing processing
Acceleration by the smoothing processing
Clutch OFF
Deceleration by the
smoothing processing
Deceleration by the
smoothing processing
Output to output axis by
the smoothing clutch for
slippage system
(Exponential function
system)
Slippage
* t: Smoothing time constant
t = 100 = 63 [%]
A
B
Time until it becomes
Output to output axis by
the direct clutch
t
t
t
t
Output to output axis by
the smoothing clutch for
slippage system (Linear
acceleration/deceleration
system)
V
Acceleration by the smoothing processing
Deceleration by the
smoothing processing
t
Slippage
Fig. 7.1 Output to the Output axis by the Smoothing and Direct Clutch