-
67
-
<
To
execute
FH
correction
manually>
1)
Linear
acceleration/deceleration
speed
(MSMD=0
in
the
PRMD
register)
(PRFH
2
-
PRFL
2
)
x
(PRUR
+
PRDR
+
2)
PRMV
(PRMG
+
1)
x
16384
(PRMG
+
1)
x
16384
x
PRMV
PRFH
PRUR
+
PRDR
+
2
+
PRFL
2
2)
S-curve
acceleration
without
linear
acceleration
(MSMD=1
in
the
PRMD
and
PRDS
registers
=
0)
(PRFH
2
-
PRFL
2
)
x
(PRUR
+
PRDR
+
2)
x
2
When
PRMV
(PRMG
+
1)
x
16384
(PRMG
+
1)
x
16384
x
PRMV
PRFH
(PRUR
+
PRDR
+
2)
x
2
+
PRFL
2
3)
S-curve
acceleration/deceleration
with
linear
acceleration/deceleration
(MSMD
=
1
in
the
PRMD
register
and
the
PRUS
register
>
0,
PRDS
register
>
0)
(3)-1.
When
PRUS
=
PRDS
(i)
Set
up
a
small
linear
acceleration
range
(PRFH
+
PRFL)
x
(PRFH
-
PRFL
+
2
x
PRUS)
x
(PRUR
+
PRDR
+
2)
PRMV
(PRMG
+
1)
x
16384
and
(PRUS
+
PRFL)
x
PRUS
x
(PRUR
+
PRDR
+
2)
x
4
PRMV
>
(PRMG
+
1)
x
16384
(PRMG
+
1)
x
16384
x
PRMV
PRFH
-
PRSU
+
(PRUS
-
PRFL)
2
+
(PRUR
+
PRDR
+
2)
(ii)
Eliminate
the
linear
acceleration/deceleration
range
(PRUS
+
PRFL)
x
PRUS
x
(PRUR
+
PRDR
+
2)
x
4
PRMV
(PRMG
+
1)
x
16384
Change
to
S-curve
acceleration/deceleration
without
a
linear
acceleration/deceleration
range
(PRUS
=
0,
PRDS
=
0),
(PRMG
+
1)
x
16384
x
PRMV
PRFH
(PRUR
+
PRDR
+
2)
x
2
+
PRFL
2
Reference
PRMV:
Positioning
amount
PRFL:
Initial
speed
PRFH:
Operation
speed
PRUR:
Acceleration
rate
PRDR:
Deceleration
rate
PRMG:
Speed
magnification
rate
PRUS:
S-curve
acceleration
range
PRDS:
S-curve
deceleration
range
Summary of Contents for PCL6113
Page 1: ...User s Manual For PCL6113 6123 6143 Pulse Control LSI Nippon Pulse Motor Co Ltd...
Page 11: ...5 3 Terminal Assignment Diagram 3 1 PCL6113 3 2 PCL6123...
Page 20: ...14 5 Block Diagram...
Page 115: ...109 11 Stop timing by error...
Page 116: ...110 13 External Dimensions 13 1 PCL6113...
Page 117: ...111 13 2 PCL6123...
Page 118: ...112 13 3 PCL6143...
