Mitsubishi Electric MELSEC Q Series User Manual page 195

(b) Deceleration distance
If the movement amount from the positioning address P1 to the positioning address P2 is less than the
deceleration distance from the positioning address P1, two-phase trapezoidal positioning control is not formed.
In this case, the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning
address P1 so that the operation stops at the positioning address P2.
Da.3 Positioning
speed V1
Da.5 Positioning
speed V2
Deceleration stop fails.
Positioning address P1
Da.2
To execute two-phase trapezoidal positioning, set the positioning data so that the deceleration distance from
the positioning address P1 does not exceed the movement amount from the positioning address P1 to the
positioning address P2.
(c) Two-phase trapezoidal positioning control in the absolute system
To execute two-phase trapezoidal positioning control in the absolute system, the positioning direction from
" Positioning address P1" to "
Da.2
current value to "
Da.2
If not, the error "Two-phase trapezoidal positioning address error" (error code: 31) occurs, and the two-phase
trapezoidal positioning control does not start.
Setting example
Positioning address
Da.2
P1
10000
10000
(d) Positioning speed V1 and V2
Any value within the setting range can be set in "
V2" regardless the relation between the two setting values.
Positioning address P2
Da.4
Positioning address P2" and the positioning direction from the
Da.4
Positioning address P1" must be the same.
Positioning address
Da.4
P2
5000
15000
Da.3
CHAPTER 9 MAJOR POSITIONING CONTROL
Da.3 Positioning
speed V1
Da.5 Positioning
speed V2
Positioning address P1
Da.2
Deceleration distance from
" Da.2 Positioning address P1"
Moving direction from the current value to
the positioning address P1
Address increasing
direction
Error
Positioning executed
Positioning speed V1" and "
Positioning address P2
Da.4
Address decreasing
direction
Positioning executed
Error
Positioning speed
Da.5
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