7 Commands for parameter set up
50
7-4 Details of acceleration / deceleration rate
The acceleration / deceleration rate is a coded number from 0 to 115, but it corresponds to
each code.
The acceleration / deceleration values are as shown in the table below.
Units: ms / 1000pps (time required to reach speeds from 0pps to 1000pps)
Real rate setting
With PM16C-16HW2, it is possible to set with real values only when setting remotely. The
settable range varies depending on the maximum speed (HSPD, MSPD value) of each axis.
If it is set outside the settable range, the upper and lower limits will be set according to the
maximum speed.
Max speed is 150,000 or less:
1000 ~ 0.1 (ms/1000pps, 0.1steps)
Max speed is 1,500,000 or less:
100 ~ 0.01 (ms/1000pps, 0.01steps)
Max speed is faster than 1,500,000: 20 ~ 0.00125 (ms/1000pps, 0.00125steps)
NO
RATE
NO RATE
NO RATE
NO RATE
NO RATE
NO
RATE
0
1000
20
150
40
22
60
3.3
80
0.47
100
0.068
1
910
21
130
41
20
61
3
81
0.43
101
0.062
2
820
22
120
42
18
62
2.7
82
0.39
102
0.056
3
750
23
110
43
16
63
2.4
83
0.36
103
0.051
4
680
24
100
44
15
64
2.2
84
0.33
104
0.047
5
620
25
91
45
13
65
2
85
0.3
105
0.043
6
560
26
82
46
12
66
1.8
86
0.27
106
0.039
7
510
27
75
47
11
67
1.6
87
0.24
107
0.036
8
470
28
68
48
10
68
1.5
88
0.22
108
0.033
9
430
29
62
49
9.1
69
1.3
89
0.2
109
0.030
10
390
30
56
50
8.2
70
1.2
90
0.18
110
0.027
11
360
31
51
51
7.5
71
1.1
91
0.16
111
0.024
12
330
32
47
52
6.8
72
1
92
0.15
112
0.022
13
300
33
43
53
6.2
73
0.91
93
0.13
113
0.020
14
270
34
39
54
5.6
74
0.82
94
0.12
114
0.018
15
240
35
36
55
5.1
75
0.75
95
0.11
115
0.016
16
220
36
33
56
4.7
76
0.68
96
0.1
17
200
37
30
57
4.3
77
0.62
97
0.091
18
180
38
27
58
3.9
78
0.56
98
0.082
19
160
39
24
59
3.6
79
0.51
99
0.075
