Positioning Control; Basics Of Positioning Control; Positioning Speed - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL

7. POSITIONING CONTROL
7.1

Basics of Positioning Control

7.1.1

Positioning speed

This section describes the positioning control methods.
This section describes the common items for positioning control, which is
described in detail from Section 7.2.
The positioning speed is set using a servo program. See Section 6 for details about
servo programs.
The real positioning speed is determined by the positioning speed setting in the
servo program and the speed limit value, according to the following relationship:
• If positioning speed setting < speed limit value
positioning occurs at set positioning speed.
• If positioning speed setting > speed limit value
positioning occurs at speed limit value.
Examples
(1) If the speed limit value is 120,000 mm/min. and the positioning speed
setting is 100,000 mm/min., the positioning speed is controlled as follows.
120000
100000
Acceleration time
(2) If the speed limit value is 100,000 mm/min. and the positioning speed
setting is 120,000 mm/min., the positioning speed is controlled as follows.
V
120000
100000
Acceleration time
V
Speed limit value
Deceleration time
Positioning speed
Speed limie value
(becomes the real positioning speed)
Deceleration time
7 − 1
Positioning speed
t
t