Mitsubishi Electric MELSEC iQ-R Series User Manual page 421

[Pr.7] Bias speed at start
Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If
the motor speed at start is low, the stepping motor does not start smoothly.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• Home position return operation
• JOG operation
Set the value that the bias speed should not exceed "[Pr.8] Speed limit value".
[Pr.1] setting value
0: mm
1: inch
2: degree
3: pulse
*1 Range of speed limit value when "[Pr.83] Speed control 10  multiplier setting for degree axis" is set to valid: 0.00 to 20000000.00
(degree/min)
*2 Range of speed limit value when "[Pr.83] Speed control 10  multiplier setting for degree axis" is set to valid: 0 to 2000000000 (  10
degree/min)
Trapezoidal acceleration/deceleration (S-curve ratio is 0%)
[Pr.8] Speed limit value
[Da.8] Command speed
[Pr.7] Bias speed at start
S-curve acceleration/deceleration (S-curve ratio is other than 0%)
[Pr.8] Speed limit value
[Da.8] Command speed
[Pr.7] Bias speed at start
For the 2-axis or more interpolation control, the bias speed at start is applied by the setting of "[Pr.20]
Interpolation speed designation method".
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Value set with the engineering tool (unit)
0.00 to 20000000.00 (mm/min)
0.000 to 2000000.000 (inch/min)
0.000 to 2000000.000 (degree/min)
0 to 1000000000 (pulse/s)
V
Actual
acceleration time
Acceleration time
[Pr.9] Acceleration time 0
[Pr.25] Acceleration time 1
[Pr.26] Acceleration time 2
[Pr.27] Acceleration time 3
V
Actual
acceleration time
Acceleration time
[Pr.9] Acceleration time 0
[Pr.25] Acceleration time 1
[Pr.26] Acceleration time 2
[Pr.27] Acceleration time 3
• "0: Composite speed": Bias speed at start set to the reference axis is applied to the composite command
speed.
• "1: Reference axis speed": Bias speed at start is applied to the reference axis.
search engine
*1
t
Actual
deceleration time
Deceleration time
[Pr.10] Deceleration time 0
[Pr.28] Deceleration time 1
[Pr.29] Deceleration time 2
[Pr.30] Deceleration time 3
t
Actual
deceleration time
Deceleration time
[Pr.10] Deceleration time 0
[Pr.28] Deceleration time 1
[Pr.29] Deceleration time 2
[Pr.30] Deceleration time 3
12 DATA USED FOR POSITIONING CONTROL
Value set with a program (unit)
-2
0 to 2000000000 (  10
mm/min)
-3
0 to 2000000000 (  10
inch/min)
-3
0 to 2000000000 (  10
degree/min)
0 to 1000000000 (pulse/s)
12.3 Basic Setting
12
*2
-2
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