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4 PARAMETERS FOR POSITIONING CONTROL
4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and
rapid stop deceleration time
The speed limit value is the maximum speed at the positioning/home position return.
The acceleration time is the time taken to reach the set speed limit value from the start
of positioning.
The deceleration time and rapid stop deceleration time are the time taken to effect a
stop from the set speed limit value.
Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration
time are faster, because the positioning speed is faster than the speed limit value.
Speed
Speed limit value
Rapid stop cause occurrence
Positioning
speed set in
the servo
program
1) Real accele-
ration time
Set acceleration
time
Set rapid stop
deceleration
time
3) Real deceleration time
Set deceleration time
Time
Real acceleration time
Time take to reach the positioning speed
set in the servo program.
Real rapid stop deceleration time
Time taken to effect a rapid stop from the
positioning speed set in the servo program.
Real deceleration time
Time taken to stop from the positioning
speed set in the servo program.
2) Real rapid stop
deceleration time
1)
2)
3)
4.3.2 S-curve ratio
S-curve ratio can be set as the acceleration and deceleration processing method for S-
pattern processing.
(Refer to Section 6.1.7 for details of S-curve acceleration/deceleration processing.)
Setting range of the S-curve ratio is 0 to 100[%].
If it is set outside the range, an error occurs at the start and control is executed with the
S-curve ratio set as 100[%].
Errors are set in the error item information area (D9190).
Setting of the S-curve ratio enables acceleration/deceleration processing to be
executed gently.
The graph for S-pattern processing is a sine curve as shown below.
Positioning speed
Sine curve
0
Acceleration
time
Deceleration
time
Time
t
V