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Deceleration Value Selecting
Selects either acceleration value (symmetry acceleration/deceleration) or deceleration value individually (non-symmetry
acceleration/deceleration) as a deceleration speed at deceleration in trapezoidal driving.
Display Option
Default
Deceleration Value
Accel (Acceleration) / Decel (Deceleration)
Accel
MR210AU/220AU can perform not only symmetry
acceleration/deceleration driving where the
acceleration and the deceleration are same but also
non-symmetry acceleration/deceleration driving
where the acceleration and the deceleration are
different. When selecting Accel (Acceleration), the
acceleration parameter is used as a deceleration speed
at deceleration and driving becomes symmetry
trapezoidal. When selecting Decel (Deceleration), the deceleration parameter is used as a deceleration speed and driving
becomes non-symmetry trapezoidal.
[Note]
Please note that the following (1), (2) for when non-symmetry trapezoidal acceleration/deceleration driving is performed.
(1) In the case of acceleration > deceleration, the following condition is applied to the ratio of the acceleration and the
deceleration.
For instance, if driving speed V = 100kps, deceleration D must be greater than 1/40 of acceleration A. The value must not be less
than 1/40 of the acceleration.
(2) If acceleration > deceleration, the greater the ratio of acceleration A to deceleration D becomes, the greater the number of creep
pulses (outputs of specified driving pulses are not completed at deceleration of index driving even if the speed reaches the
initial-speed and remaining driving pulses are output at initial-speed.) becomes. Approximately maximum of 10 pulses when
A/D=10 times.
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Software Limit
Selects either Disable or Enable for software limit.
Display Option
Default
Soft Ware Limit
Disable / Enable
Disable
Software Limit is the over run limit function which can internally set as position data; it differs from hardware limit signal input
such as an external sensor. Software limit can be set as parameters for + and – direction respectively. When selecting enable, and
when the position counter is over the software limit + to – range during driving, decelerating stop will be performed. This error
condition will be cleared if the user drives in the opposite direction and sets the position counter back within a software limit
range.
[For reference] While a home search is running, the software limit does not function even if enabled.
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Power On Home Search Start
Selects either Disable or Enable for automatic home search at power-on.
Display Option
Default
Power On Home Search Start
Disable / Enable
Disable
Power On Home Search Start is the function to automatically perform home search when the power is on or motor control unit is
reset.
Acceleration Rate
Symmetry Trapezoidal Driving
Non-Symmetry Trapezoidal Driving
Same as Acceleration Rate
Time
Speed
Acceleration
Deceleration
Deceleration Rate
Acceleration
Deceleration
Speed
Time
Acceleration Rate
Ｄ
＞
Ａ
×
Ｖ
４
×１ ０
6
D
：
Deceleration rate (pps/sec)
A
：
Acceleration rate (pps/sec)
V
：
Drive speed (pps)
