— 7-55 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
2
3
3
t
t
y
y
p
p
e
e
2
2
5
5
t
t
y
y
p
p
e
e
7.2. For More Advanced Operation
7.2.8. Acceleration Profiling
à
When the acceleration profiling is activated by the parameter CX1, and the parameters
CS, CY, MA, or MV is changed under effective state of the function, it requires
initializing the conditions of positioning. It takes a time until the next prompt (:)
appears on the screen. A dot appears continuously on the screen while initializing.
à
The initializing time is proportional to the actual time for accelerating and decelerating.
Therefore it takes longer when the acceleration is set lower. It will take few minutes
depending on the number of used channels and acceleration settings. In such occasion,
we may perform a positioning with constant acceleration profiling for the acceleration
that is lower than a threshold in order to skip the initialization. The parameter CY sets
the threshold of such acceleration. The shipping set is CY1 (1 s
-2
).
à
CX, CS, CY, MA and MV cannot be changed in positioning of Programmable Indexer.
Figure 7-49: Constant acceleration is set when the parameter MA is lower than the CY.
Ve
lo
ci
ty
Ac
ce
le
ra
tion
MA (Accel.)
MA (Decel.)
CY
CY
MV
|MA (Accel.)|<|CY|
|MA (Decel.)|
³
|CY|
MA (Accel.)
MA (Decel.)
CY
CY
|MA (Accel.)|
³
|CY|
|MA (Decel.)|<|CY|
Changed profile
Actual profile
0
0
0 0
MV
u
Monitor executed positioning pattern
l
In some cases a selected acceleration profiling won’t be performed depending on specified
acceleration (MA and CA), velocity (MV and CV) and position command even the function is
set active.
l
The parameter CZ monitors the result of the latest execution of acceleration profiling pattern.
:CZ
1
:_
Z
C
ENT
Table 7-27: Readout code by parameter CZ
Readout Definition
0
The acceleration profiling is not set after Home Return, or Jog.
1
Positioning completed with specified acceleration profiling pattern.
2
Decelerated in the middle of positioning due to insufficient positioning distance.
3
Decelerated in the same pattern as acceleration due to insufficient positioning distance.
à
If acceleration pattern is changed to constant acceleration because the MA setting is lower than
the CY setting, the readout code shall be 1 (CZ1) indicating the function worked properly.
à
When programming the IR or ID command to an internal channel, a warning message appears
on the screen if a specified acceleration profiling cannot be performed due to short distance.
Triangle Pattern 1: Decelerated in the middle of positioning due to insufficient
positioning distance. (Figure 7-51)