Mitsubishi Electric MELSEC Q Series Programming Manual page 353

6 POSITIONING CONTROL
POINTS
(1) The fixed acceleration/deceleration time method is acceleration/deceleration processing
that the time which acceleration/deceleration takes is fixed, even if the command speed
differs.
(a) The following processing and parameters are invalid in the fixed
(b) The speed processing for each axis is as shown below in positioning operation
(2) When the rapid stop command is executed by the setting "deceleration time < rapid stop
deceleration time" during constant-speed control, the point data currently executed in the
middle of deceleration, and the positioning may be completed suddenly as a speed "0".
In the case of, "deceleration time  rapid stop deceleration time", the above operation is
not executed . For the following condition, note that the speed may become 0 in the middle of
deceleration.
Travel value by the point data currently executed at the rapid stop command
(Up to 9 points) < speed at rapid stop command input
[Operation pattern]
V
acceleration/deceleration time method.
• Rapid stop deceleration time in parameter block
• Completion point specification method for speed change point
• S-curve acceleration/deceleration
(constant-speed) as shown in the following figure.
Y
Ay
Axis 2
Ax
Axis 1
Positioning operation
ON
Start accept flag
OFF
Positioning complete
signal
OFF
Rapid stop command
Vector speed
Deceleration speed at
the normal stop
V
Axis 1
X
V
Constant-speed control processing of each axis
ON
1) 2) 3) 4)
6 - 166
t
Acceleration/deceleration time is fixed
Address Ax
Ax
Axis 2
Address Ay
Ay
rapid stop deceleration time/2
OFF
ON
5) 6) 7) 8)
t
t