Mitsubishi Electric MELSEC iQ-R Series User Manual page 121

■Time constant method linear acceleration/deceleration smoothing
Set "2: Time constant method (Linear)" in the clutch smoothing method.
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch
processing
Speed after clutch
smoothing
Slippage method smoothing
Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF
when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore,
positioning control at clutch ON/OFF is not affected by speed changes.
Processing proceeds with direct operation after completing clutch ON smoothing.
The movement amount between the clutch turning ON and OFF is as follows after clutch smoothing.
Movement amount after clutch smoothing = Movement amount before clutch smoothing + (Slippage amount at OFF -
Slippage amount at ON)
Item Setting item
Main shaft clutch
Slippage amount at [Pr.413]
clutch ON Slippage amount at main shaft
clutch ON
Slippage amount at [Pr.414]
clutch OFF Slippage amount at main shaft
clutch OFF
*1 Main input axis position units (Page 28 INPUT AXIS MODULE)
*2 Auxiliary shaft position units (Page 28 INPUT AXIS MODULE)
*3 Cam axis cycle units (Page 127 Units for the output axis)
■Slippage method exponential curve smoothing
Set "3: Slippage (Exponential)" in the clutch smoothing method.
Clutch ON/OFF status
Clutch smoothing status
Speed before clutch
processing
Speed after clutch
smoothing
Slippage amount at clutch ON
Item
Clutch ON/OFF status
Clutch smoothing status
Clutch smoothing time constant
Auxiliary shaft clutch
[Pr.430]
Slippage amount at auxiliary
shaft clutch ON
[Pr.431]
Slippage amount at auxiliary
shaft clutch OFF
Slippage amount at clutch OFF
Main shaft clutch
[Md.420] Main shaft clutch ON/OFF status
[Md.421] Main shaft clutch smoothing status
t
t
Setting details Setting value
For smoothing with a slippage ■Set in decimal.
method, set the slippage amount 0 to 2147483647
at clutch ON. [Main input axis position units
auxiliary shaft position units
For smoothing with a slippage
cam axis cycle units
method, set the slippage amount
at clutch OFF.
t
t
Auxiliary shaft clutch
[Md.423] Auxiliary shaft clutch ON/OFF status
[Md.424] Auxiliary shaft clutch smoothing status
4 ADVANCED SYNCHRONOUS CONTROL
4
*1
/
*2
or
*3
]
119
4.3 Clutch