Mitsubishi MOTION CONTROLLERS Q172DCPU Manual de instrucciones Pagina 156
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6 POSITIONING CONTROL
6.1.7 Acceleration/deceleration processing
Acceleration/deceleration are processed by the following two methods.
(1) Trapezoidal acceleration/deceleration processing
This is a conventional linear acceleration/deceleration processing.
The acceleration/deceleration graph resembles a trapezoid, as shown in the
diagram below.
Positioning speed
V
Acceleration time Deceleration time
Time
t
0
(2) S-curve acceleration/deceleration processing
S-curve ratio is set as a parameter to provide gentler acceleration and
deceleration than trapezoidal processing. The acceleration/deceleration graph is
sinusoidal, as shown in the diagram below.
Set the S-curve ratio in the parameter block (Refer to Section 4.3.2) or using the
servo program.
Positioning speed
V
Acceleration time
Deceleration time
Time
t
0
S-curve ratio set the part of the sine curve used to produce the acceleration and
deceleration curve as shown in the diagram below.
sine curve
A
B
B/2
(Example)
Positioning
speed
V
Positioning
speed
S-curve ratio 100[%]
S-curve ratio 70[%]
t
b
a
b/a = 0.7
B/2
S-curve ratio = B/A 100
[
%
]
V
t
- Q173DCPU 1
- Q172DCPU 1
- SAFETY PRECAUTIONS 2
- For Safe Operations 3
- 2. For fire prevention 3
- 3. For injury prevention 4
- 4. Various precautions 4
- (4) Wiring 8
- (6) Usage methods 9
- Electro 10
- (10) General cautions 11
- 1. OVERVIEW 18
- (Note-2) : SSCNET: S 19
- PLC program 23
- Start request of the 23
- Motion SFC program 23
- Motion CPU 24
- Servo program 26
- PLC program 27
- Servomotor 30
- (2) Servo program 33
- (4) PLC program 34
- (1) Internal signals 36
- (2) External signals 36
- 3.1 Internal Relays 38
- (1) Internal relay list 38
- (2) Axis status list 39
- (4) Common device list 41
- (Note-1), (Note-2) 44
- 3.1.1 Axis statuses 45
- CAUTION 46
- 3.1.2 Axis command signals 55
- ......... Command signal 58
- 3.1.3 Common devices 62
- ....………. Status signal 72
- 3.2 Data Registers 75
- (1) Data register list 75
- ....…….. Monitor device 82
- 3.3 Motion Registers (#) 89
- 3.4 Special Relays (SM) 91
- Table 3.2 Special relay list 91
- .………...... Status signal 93
- 3.5 Special Registers (SD) 94
- ........... Monitor device 96
- Faulty SSCNET No 97
- 0 : SSCNET 1 97
- 1 : SSCNET 2 97
- ……………………..…… Command device 99
- 4.1 System Settings 100
- 4.2 Fixed Parameters 101
- Servo amplifier 102
- Fig. 4.2 For ball screw 103
- 4.3 Parameter Block 110
- 4.3.2 S-curve ratio 112
- Positioning 114
- 5.2 Servo Instructions 116
- Forward 121
- Reverse 121
- Position 123
- FOR-TIMES 127
- (Note-5) 129
- (Note-4) 130
- (Note-1) 130
- (Note-2) 130
- (Note-3) 130
- 6. POSITIONING CONTROL 140
- 1 to V2) 141
- 1 = 10000[PLS] 141
- 2 = 15000[PLS] 141
- 6 POSITIONING CONTROL 142
- 1 to V3) 144
- 1 to D4) 144
- 1 = 10000 [PLS] 145
- 2 = 15000 [PLS] 145
- 3 = 5000 [PLS] 145
- 4 = 20000 [PLS] 145
- Remarks 147
- 359.99999 359.99999 148
- 315.00000 149
- 345.00000 149
- Clockwise positioning 149
- (1) Stop processing 150
- (Note-1) 152
- (2) Re-starting after stop 153
- (a) Direct specification 157
- (b) Indirect specification 157
- (1) System configuration 159
- (3) Operation timing 160
- (4) Servo program 160
- (5) Motion SFC program 160
- (3) Positioning conditions 164
- (4) Operation timing 164
- (5) Servo program 165
- (6) Motion SFC program 165
- 1, Y1 or Z1) based on 167
- 2, Y2, Z2) is executed 167
- Fig.6.7 Axis configuration 173
- Fig.6.10 Maximum arc 178
- Fig.6.12 Maximum arc 179
- (2) Positioning details 179
- Fig.6.14 Maximum arc 184
- Fig.6.16 Maximum arc 184
- Fig.6.19 Maximum arc 189
- Positioning path 197
- Central point 197
- End point 197
- Start point 197
- Radius R 197
- (1) Servo program 198
- (2) Motion SFC program 203
- 6.13 Speed Control ( ) 228
- Fig.6.26 Speed control ( ) 228
- (Note) 229
- 6.14 Speed Control ( ) 232
- (2) Positioning conditions 239
- 6.16 Speed-Switching Control 247
- 6.17 Constant-Speed Control 259
- (1) CPSTART1 273
- (2) CPEND 273
- (1) ABS-1/INC-1 273
- (6) ABS/INC , ABS/INC 279
- (1) Skip signal devices 287
- 6.20 Simultaneous Start 311
- No.14 Axis 3 Speed control 312
- 6.21 JOG Operation 314
- 6.21.1 JOG operation data 314
- 6.21.2 Individual start 315
- (3) Motion SFC program 319
- 6.21.3 Simultaneous start 320
- Input from manual 326
- Manual pulse generator P1 328
- Manual pulse generator P2 328
- 6.23 Home Position Return 330
- (4) Cautions 340
- (1) Count type 3 347
- [Cautions] 364
- [Data Setting] 366
- [Control details] 367
- (2) Servo program example 372
- 7.1 M-code Output Function 376
- (1) Setting of M-codes 376
- (3) Resetting of M-codes 377
- (4) Program example 378
- Feed screw 379
- Workpiece 379
- Backlash compensation amount 379
- 7.3 Torque Limit Function 381
- Torque limit value 382
- . . . . . . 383
- 7.5.1 Cancel/start 386
- APPENDICES 388
- PPENDICES 389
- APPENDIX 1.3 Major errors 405
- APPENDIX 1.4 Servo errors 409
- APPENDIX 2 Example Programs 428
- APPENDIX 2.1 Reading M-code 428
- System configuration 430
- (Note-2) 431
- (2) Inputting device data 432
- APPENDIX 5 Device List 434
- (1) Axis status list 434
- (3) Common device list 436
- (7) Common device list 442
- (8) Motion register list (#) 443
- (9) Special relay list 444
- (10) Special register list 444
- WARRANTY 445
- MOTION CONTROLLER Qseries 446
- (Q173DCPU/Q172DCPU) 446
- MITSUBISHI ELECTRIC 448
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