-
68
-
(3)-2.
When
PRUS
<
PRDS
(i)
Set
up
a
small
linear
acceleration/deceleration
range
When
(PRFH+PRFL)
x
{(PRFH-PRFL)
x
(PRUR
+
PRDR
+
2)
+
2
x
PRUS
x
(PRUR+1)
+
2
x
PRDS
x
(PRDR
+
1)}
PRMV
(PRMG
+
1)
x
16384
and
(PRDS+PRFL)
x
{PRDS
x
(PRUR
+
2
x
PRDR
+
3)
+
PRUS
x
(PRUR
+
1)}
x
4
PRMV
>
(PRMG
+
1)
x
16384
,
-A
+
A
2
+
B
PRFH
PRUR
+
PRDR
+
2
However,
A
=
PRUS
x
(PRUR
+
1)
+
PRDS
x
(PRDR
+
1)
B=
{(PRMG
+
1)
x
16384
x
PRMV
-
2
x
A
x
PRFL
+
(PRUR
+
PRDR
+
2)
x
PRFL
2
}
x
(PRUR
+
PRDR
+
2)
(ii)
Eliminate
the
linear
acceleration/deceleration
range
and
set
up
a
small
linear
acceleration
section.
When
(PRDS
+
PRFL)
x
{PRDS
x
(PRUR
+
2
x
PRDR
+
3)}
+
PRUS
x
(PRUR
+1
)}
x
4
PRMV
(PRMG
+
1)
x
16384
and
(PRUS
+
PRFL)
x
PRUS
x
(PRUR
+
PRDR
+
2)
x
8
PRMV
>
(PRMG
+
1)
x
16384
Change
to
S-curve
acceleration/deceleration
without
any
linear
acceleration/deceleration
(PRUS>0,
PRDS=0)
-A
+
A
2
+
B
PRFH
PRUR
+
2
x
PRDR
+
3
However,
A
=
PRUS
x
(PRUR
+
1),
B=
{(PRMG
+
1)
x
16384
x
PRMV
-
2
x
A
x
PRFL
+
(PRUR
+
2
x
PRDR
+
3)
x
PRFL
2
}
x
(PRUR
+
2
x
PRDR
+
3)
(iii)
Eliminate
the
linear
acceleration/deceleration
range
(PRUS
+
PRFL)
x
PRUS
x
(PRUR
+
PRDR
+
2)
x
8
When
PRMV
(PRMG
+
1)
x
16384
Change
to
S-curve
acceleration/deceleration
without
any
linear
acceleration/deceleration
(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...
