Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 133

[Pr.448] Synchronous control parameter block No. (R: D42709+160n/Q: D15069+150n)
Set the parameter block number to be used by output axis of during synchronous control.
Used item for the parameter block is shown below.
: Valid, : Invalid
Item
Interpolation control unit
*1
Speed limit value
Acceleration time
*1
Deceleration time
*1
Rapid stop deceleration time
*2
S-curve ratio
Torque limit value
Deceleration processing on STOP input
Allowable error range for circular interpolation
Bias speed at start
*1*3
Acceleration/deceleration system
Advanced S-curve Acceleration section 1 ratio
acceleration/
Acceleration section 2 ratio
deceleration
Deceleration section 1 ratio
Deceleration section 2 ratio
*1 The output axis during synchronous control synchronizes with the input axis. Therefore, the output axis depends on the input axis
operation and synchronous control parameter, and the setting value is invalid during the synchronous control.
However, at synchronous control stop during output axis operation, the setting value is valid since the stop is processed after the
synchronous control completion, and the output axis decelerates to stop with the following slope of deceleration.
Slope of deceleration = Speed limit value ÷ Deceleration time (Rapid stop deceleration time)
*2 The setting of S-curve ratio is invalid. If a value other than 0% is set to the S-curve ratio, the stop processing is performed with
trapezoidal acceleration/deceleration (S-curve ratio=0[%]).
*3 When "1: Adv. S-curve" is selected, the setting is invalid, and the stop processing is performed with trapezoidal acceleration/
deceleration (S-curve ratio=0[%]).
The actual deceleration time is longer than the set deceleration time if the output axis speed is larger than the
speed limit value.
• "Output axis speed>Speed limit value"
Deceleration stop
Output axis speed Deceleration stop cause
Speed limit value
Real deceleration
time
Valid/invalid of setting
value







*1








Stop deceleration time
of parameter block
Remarks
The setting value is valid only at the synchronous control stop.
The setting value is valid only at the synchronous control stop.
The setting value is changed to the torque limit value of output axis at
the synchronous control start.
The setting value is valid only at the synchronous control stop.
Only "0: Trapezoid/S-curve" is valid.
Rapid stop
Output axis speed Rapid stop cause
Speed limit value
Rapid stop deceleration
time of parameter block
Real deceleration
time
6 SYNCHRONOUS CONTROL
6.5 Output Axis Module
6
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