Mitsubishi Electric Q172CPU Programming Manual page 158

7 TRANSMISSION MODULE
c) If input to clutch (travel value after the main shaft's differential gear)
changes after smoothing completion, the smoothing processing is
not executed at that point and output directly.
V
Input to clutch
Travel value after
the main shaft's
differential gear
Internal clutch status
V
Output to output axis
by the smoothing clutch
for exponential function
system
Clutch status signal
d) The smoothing clutch complete signal (M5520+2n, M5521+2n)
turns ON after completion of smoothing processing.
• ON ...."(Remainder slippage) < (Slippage in-position range)"
• OFF... Smoothing processing start (Clutch ON/OFF)
The smoothing clutch complete signal (M5520+2n, M5521+2n) is
used to check the completion of smoothing processing, etc.
2) Linear acceleration/deceleration system
a) Set the slippage indicated by the shaded area in the diagram below.
Slippage is recommended to be set greater than input to clutch
(travel value after the main shaft's differential gear).
V
Input to clutch
Clutch status
b) Execute the smoothing processing so that the slippage may become
the shaded area by the linear acceleration/deceleration system at
clutch ON/OFF.
Slippage [PLS]
Smoothing processing
is not executed.
Smoothing completion
Slippage [PLS]
OFF
7 - 9
Slippage [PLS]
Smoothing completion
ON
t
t
t