Mitsubishi Electric Q172CPU Programming Manual page 156

7 TRANSMISSION MODULE
(2) Smoothing processing
(a) Time constant system
1) Since the time constant is fixed, the slippage of clutch changes
according to the speed of drive module.
V
AX
0.63
V
BX
0.63
Clutch status
2) If input to clutch (travel value after the main shaft's differential gear)
changes after smoothing completion, the smoothing processing is
executed at that point.
V
Input to clutch
Travel value after
the main shaft's
differential gear
Internal clutch status
V
Output to output axis
by the smoothing
clutch for time
constant system
Clutch status signal
V
S
A
S
B
Smoothing time constant
*t *t
Smoothing completion
7 - 7
V
A
V , V : Drive module speed
A B
VA : Slippage [PLS] at V
S
A
VB : Slippage [PLS] at V
S
B
V
B
t
*t *t
*t : Smoothing time constant
A
B
t
t