Relationships Between The Speed Limit Value, Acceleration Time, Deceleration Time And Rapid Stop Deceleration Time - Mitsubishi Electric MELSEC Q Series Programming Manual

4 PARAMETERS FOR POSITIONING CONTROL
4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and
rapid stop deceleration time
The speed limit value is the maximum speed at the positioning/home position return.
The acceleration time is the time taken to reach the set speed limit value from the start
of positioning.
The deceleration time and rapid stop deceleration time are the time taken to effect a
stop from the set speed limit value.
Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration
time are faster, because the positioning speed is faster than the speed limit value.
Speed
Positioning
speed set in
the servo
program
1) Real accele-
ration time
Set rapid stop
Set acceleration
deceleration
time
time
Refer to Section 4.3.3 for acceleration time, deceleration time and rapid stop
deceleration time of the advanced S-curve acceleration/deceleration processing.
Set the rapid stop deceleration time to a time shorter than the deceleration time.
(1) Deceleration time < Rapid stop deceleration time
(a) The servo program setting error (error code: 51) is stored in the error item
information (SD517) at start, and the servo program setting error flag
(SM516) is turned ON. When the rapid stop cause occurs during
deceleration, the axis decelerates to a stop in the deceleration time.
Speed limit value
Rapid stop cause occurrence
Time
2) Real rapid stop
deceleration time
3) Real deceleration time
Set deceleration time
Deceleration stop processing
Stop
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1) Real acceleration time
Time take to reach the positioning speed
set in the servo program.
2) Real rapid stop deceleration time
Time taken to effect a rapid stop from the
positioning speed set in the servo program.
3) Real deceleration time
Time taken to stop from the positioning
speed set in the servo program.
Rapid stop cause