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(3) Setting acceleration and deceleration time constants
Acceleration or deceleration is implemented by adding or subtracting speed changes every speed
change cycle.
The acceleration/deceleration time constant is represented by the time (ms/kHz)
required to change the speed by 1 kHz.
In this manual, this time constant is referred to as WATE.
<
>
<
>
Speed change of one step
Acceleration/deceleration time constant
Speed
Speed
Change of
Speed change
1 kHz
Speed
change
Time taken
cycle
Time
Time
Determining the speed change per speed change cycle automatically determines the WATE setting range.
To set the acceleration/deceleration time constant, first determine the adequate speed change for the
system and motor used.
Wext, select the acceleration/deceleration time constant according to the
purpose from the WATE setting range determined by the speed change.
◆ Make settings as follows:
・ Setting the WATE TYPE
: Cse the SPEC IWITIALIZE1 command.
・ Setting the WATE
: Cse the WATE SET or SWATE SET command.
◆ To use the compute mode, set the WATE TYPE to "compute mode."
(WATE TYPE2-0 = “ 110” )
*
For the compute mode, refer to the separate manual "Technical Data A."
(4) WATE DATA TABLE
TABLE
WATE
TABLE
WATE
TABLE
WATE
TABLE
WATE
Wo.
(ms/kHz)
Wo.
(ms/kHz)
Wo.
(ms/kHz)
Wo.
(ms/kHz)
H'00
1000
H'20
47
H'40
2.2
H'60
0.10
H'01
910
H'21
43
H'41
2.0
H'61
0.091
H'02
820
H'22
39
H'42
1.8
H'62
0.082
H'03
750
H'23
36
H'43
1.6
H'63
0.075
H'04
680
H'24
33
H'44
1.5
H'64
0.068
H'05
620
H'25
30
H'45
1.3
H'65
0.062
H'06
560
H'26
27
H'46
1.2
H'66
0.056
H'07
510
H'27
24
H'47
1.1
H'67
0.051
H'08
470
H'28
22
H'48
1.0
H'68
0.047
H'09
430
H'29
20
H'49
0.91
H'69
0.043
H'0A
390
H'2A
18
H'4A
0.82
H'6A
0.039
H'0B
360
H'2B
16
H'4B
0.75
H'6B
0.036
H'0C
330
H'2C
15
H'4C
0.68
H'6C
0.033
H'0D
300
H'2D
13
H'4D
0.62
H'6D
0.030
H'0E
270
H'2E
12
H'4E
0.56
H'6E
0.027
H'0F
240
H'2F
11
H'4F
0.51
H'6F
0.024
H'10
220
H'30
10
H'50
0.47
H'70
0.022
H'11
200
H'31
9.1
H'51
0.43
H'71
0.020
H'12
180
H'32
8.2
H'52
0.39
H'72
0.018
H'13
160
H'33
7.5
H'53
0.36
H'73
0.016
H'14
150
H'34
6.8
H'54
0.33
H'15
130
H'35
6.2
H'55
0.30
H'16
120
H'36
5.6
H'56
0.27
H'17
110
H'37
5.1
H'57
0.24
H'18
100
H'38
4.7
H'58
0.22
H'19
91
H'39
4.3
H'59
0.20
H'1A
82
H'3A
3.9
H'5A
0.18
H'1B
75
H'3B
3.6
H'5B
0.16
H'1C
68
H'3C
3.3
H'5C
0.15
H'1D
62
H'3D
3.0
H'5D
0.13
H'1E
56
H'3E
2.7
H'5E
0.12
H'1F
51
H'3F
2.4
H'5F
0.11
(5) WATE setting range
WATE TYPE
WESCL
WATE setting range(ms/kHz)
TABLE Wo. setting range
Speed change(Hz)
L1-TYPE
1,000 ~ 3.3
H'00
~ H'3C
50
1
L2-TYPE
200 ~ 0.68
H'11
~ H'4C
250
5
M1-TYPE
100 ~ 0.33
H'18
~ H'54
500
10
M2-TYPE
51 ~ 0.16
H'1F
~ H'5B
1,000
20
H1-TYPE
20 ~ 0.068
H'29
~ H'64
2,500
50
H2-TYPE
5.1 ~ 0.016
H'37
~ H'73
10,000
200