Mitsubishi Electric MELSEC Q Series Programming Manual page 143

4 PARAMETERS FOR POSITIONING CONTROL
Section
A Acceleration section 1
B Maximum acceleration section
C Acceleration section 2
D Constant-speed section
E Deceleration section 1
Maximum negative acceleration
F
section
G Deceleration section 2
Abbre-
Item
viation
Speed limit value S.R.
Acceleration time AT
Deceleration time DT
Rapid stop
ET
deceleration time
Acceleration section 1
A1R
ratio
Acceleration section 2
A2R
ratio
Deceleration section 1
D1R
ratio
Deceleration section 2
D2R
ratio
(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].
Processing for advanced S-curve acceleration/deceleration is shown below.
At the start of acceleration, acceleration continuously changes in a sinusoidal manner until reaching
the maximum acceleration for trapezoidal acceleration/deceleration.
Set this section in acceleration section 1 ratio (A1R).
The maximum acceleration for trapezoidal acceleration/deceleration
At the end of acceleration, acceleration continuously changes in a sinusoidal manner until reaching
zero acceleration.
Set this section in acceleration section 2 ratio (A2R).
The specified control positioning speed
At the start of acceleration, deceleration continuously changes in a sinusoidal manner until
reaching the maximum negative acceleration for trapezoidal acceleration/deceleration.
Set this section in deceleration section 1 ratio (D1R).
The same maximum negative acceleration for trapezoidal acceleration/deceleration
At the end of deceleration, deceleration continuously changes in a sinusoidal manner until reaching
zero acceleration.
Set this section in deceleration section 2 ratio (D2R).
Set the following parameters in the parameter block.
Setting range
mm 0.01 to 6000000.00[mm/min]
inch 0.001 to 600000.000[inch/min]
degree 0.001 to 2147483.647[degree/min]
pulse 1 to 2147483647[pulse/s]
1 to 65535[ms]
0.0 to 100.0[%]
(A1R + A2R  100.0[%])
0.0 to 100.0[%]
(D1R + D2R  100.0[%])
POINTS
The acceleration time to reach the command speed and the travel value during
acceleration changes by setting the Acceleration section 1 ratio and acceleration
section 2 ratio. The deceleration time to stop from the commanded speed and the
travel value during deceleration changes by setting the deceleration section 1 ratio
and deceleration section 2 ratio.
Processing
• Maximum speed at positioning/home position return
(Note-1)
• Time to reach the speed limit value (S.R.) after
positioning start. (During trapezoidal acceleration)
• Time to stop from the speed limit value (S.R.).
(During trapezoidal deceleration)
• Time to stop from the speed limit value (S.R.) at
rapid stop. (Trapezoidal deceleration)
• Ratio of speed limit value (S.R.) to acceleration peak
from zero acceleration.
• Ratio of speed limit value (S.R.) to zero acceleration
from acceleration peak.
• Ratio of speed limit value (S.R.) to negative
acceleration peak from zero acceleration.
• Ratio of speed limit value (S.R.) to zero acceleration
from negative acceleration peak.
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Processing
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