Mitsubishi Electric MELSEC Q Series Programming Manual page 141

4 PARAMETERS FOR POSITIONING CONTROL
POINTS
The S-curve pattern is recreated in the cases shown below during S-curve
deceleration processing for the S-curve ratio.
In these cases the deceleration pattern may not continue or an overrun may occur.
(1) When the same speed control command turns ON the stop command or the
skip signal during S-curve deceleration processing for the end point
V
Positioning speed
Stop command (M3200+20n)/
OFF
Cancel signal
(Note-1): The processing described above is also performed at STOP signal input when "Deceleration
stop based on the deceleration time" is set in "Deceleration processing on STOP input" for
the parameter block or servo program.
(Note-2): The same processing is also performed when the rapid stop command is set (including
when "Deceleration stop based on the rapid stop deceleration time" is set in Deceleration
processing on STOP input). However, it is possible to prevent the end point from
overrunning by adjusting the setting for the rapid stop deceleration time.
(2) When the skip signal is turned ON during end point processing for the constant-
speed control instruction
V
Positioning speed
Skip signal
OFF
(3) When the rapid stop command is turned ON during S-curve deceleration
processing
V
Positioning speed
Rapid stop command
OFF
(M3201+20n)
End point n
(Small travel value)
n-1 point
Deceleration time
The target position is exceeded.
ON
End point n
(Small travel value)
n-1 point
When the skip signal is turned ON at the
end point, the S-curve pattern is
recalculated due to deceleration stop
processing.
As a result, the target point is exceeded.
Deceleration time
Time
ON
Deceleration time
ON
4 - 20
The S-curve pattern is recalculated at
stop command or cancel signal ON.
The S-curve pattern is recalculated
again upon reaching the starting
point of the end point.
(The operation is the same as when
t
the stop command, etc. are not ON.)
Time
t
The S-curve pattern is recreated based
on the rapid stop deceleration time if the
rapid stop command turns ON.
t
Time