Mitsubishi Electric MELSECQ Series User Manual page 194

11 SUB FUNCTIONS
Pr. 6 Bias speed at start, Da. 3 ACC/DEC time, Da. 4 DEC/STOP time
Da. 5 Command speed, Da. 6 Positioning address/movement amount
Cd. 7 New speed value (V1: New speed value at time t1, V2: New speed value at time t2)
Cd. 8 ACC/DEC time at speed change, Cd. 9 DEC/STOP time at speed change
: If a speed change is not made during speed control, deceleration is made at " Da. 4 DEC/STOP time".
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The following is the operation of the acceleration/deceleration processing function
during position control or speed changing in the operation pattern of continuous path
control.
<For position control in operation pattern of continuous path control>
V Positioning data
No. 1
Continuous path control
Da. 5
Pr. 6
Da. 3
<For speed change under speed control of speed-position switching
control (positioning data No. 1)>
(Refer to "Section 11.3" for speed change during JOG operation.)
V
Speed change
request
V2
Cd. 7
V1
Da. 5
Pr. 6
t1
Da. 3
search engine
Positioning data Positioning data
No. 2 No. 3
Da. 5
Da. 5
Da. 3 Da. 3
Speed control
Speed change
request
Cd. 8 Cd. 8
t2
MELSEC-Q
Positioning data
No. 4
Positioning termination
Da. 5
Da. 3
t
Da. 4 Da. 7 Dwell time
Position control
Speed-position switching command
Da. 6
Cd. 9
t
Dwell time
Da. 7
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