Yaskawa MP940 - Manual (Page 447)

11.3 Position Control
11-45
11
Pattern 1: Present position＜Target position, Present position≦Target
position
Speed is decelerated for a time set in the deceleration time setting.
Pattern 2: Present position ＜ Target position, Present position ＞
Deceleration start position
Deceleration starts the time set in the deceleration time setting and comes to a stop when
reaching the target position.
In the above illustration, deceleration should have started at point 3. However, after passing
this point, deceleration started from the target position change point and came to a stop when
reaching the target position.
① ③ ②
Speed
Target position change point
Deceleration start position
Travel distance to
target position
1 Present position
2 Target position
3 Deceleration start position
Time
Position
① ③ ②
Speed
Deceleration start position
Target position change point
Travel distance to
target position
1 Present position
2 Target position
3 Deceleration start position
Time
Position