Mitsubishi Electric A173UHCPU Programming Manual page 151

7. POSITIONING CONTROL
POINTS
(1) Speed limit value and positioning speed
• The set speed limit value applies to the long-axis speed.
• Note that the combined speed may exceed the speed limit value if long-axis speed designation is
used.
Example
During 2-axes linear interpolation with the following settings, the combined speed exceeds the
speed limit value.
Axis 1 travel value: 100 PLS
Axis 2 travel value: 200 PLS
Long-axis speed: 50 PLS/s
Speed limit value: 55 PLS /s
In this example, the reference axis is Axis 2, which has
the greatest travel value; therefore the set speed limit
value applies to Axis 2.
In this case, the positioning speed of each axis and
the combined speed are as follows:
Axis 1 positioning speed: (100/200)
Axis 2 positioning speed: 50 PLS /s
Combined speed: 25
Axis 1 positioning
speed
The combined speed exceeds the speed limit value setting of 55.
(2) Relationship between speed limit value, acceleration time, deceleration time, and rapid stop
deceleration time
• The real acceleration time, deceleration time, and rapid stop deceleration time are determined by
the long-axis speed setting.
×
50 = 25 PLS /s
+ 50
2 2
= 55.9 PLS /s
Combined speed
Axis 2 positioning speed
Speed limit value
Speed
1)
2)
Positioning speed(long-axis speed)
Rapid stop genetrated
1) Real acceleration time
2) Set acceleratioon time
Time 3) Real deceleration time
4) Set deceleration time
3)
5)
5) Real rapid stop
6)
deceleratioon time
6) Set rapid stop
4)
deceleration time
7 − 4
[Program Example]
<K 51>
ABS-2
Axis 1, 10000
Axis 2, 15000
Axis 3, 5000
Axis 4, 20000
Long-axis speed 7000
(PLS)
(PLS)
(PLS)
(PLS)
(PLS/s)