4 The outline of motor control
14
Although it is fundamentally the same as trapezoidal form acceleration drive, the
velocity change at the time of acceleration and deceleration start and the time of
acceleration and deceleration stop is performed according to S shaped form
approximated to the parabola.
Large value of "LSPD" may not make smooth start of the motor.
The acceleration / deceleration curve start area A and end area B fluctuate according
to the maximum speed.
When LSPD + 1000pps <= HSPD, automatic calculation is performed so that the
curve becomes smooth.
4-4 Control screen
Initial screen
Current firmware version is displayed at screen just after turning on the power.
(Firmware version 1.08 or later does not display the version on the upper screen, but
automatically switches to the following page and the firmware and hardware
versions are displayed.)
Motor drive screen
A Pos.
B Pos.
C Pos.
D Pos.
This is default screen when you control the motors. 4 channels which allocated Pos.
A to D pulse position are displayed. Colored area means cursor moveable area at local
mode.
1
2
3
4
5
0
0
H
T P
0
0
1
2
3
4
5
6
7
8
9
0
1
H # T P
1
-
0
1
2
3
4
5
6
7
8
9
0
2
M # T P
2
-
0
1
2
3
4
5
6
7
8
9
1
5
L
T P
3
0
1
2
3
4
5
6
7
8
9
*
*
*
*
P
M
1
6
C
-
1
6
H
W
2
*
*
*
*
*
F
I
R
M
W
A
R
E
V
e
r
.
<
1
.
0
8
>
H
A
R
D
W
A
R
E
V
e
r
.
:
3
*
*
*
*
P
M
1
6
C
-
1
6
H
W
2
*
*
*
*
*
S
T
E
P
P
I
N
G
M
O
T
O
R
C
O
N
T
R
O
L
L
E
R
V
e
r
<
1
.
0
0
>
T
S
U
J
I
-
D
E
N
S
H
I
C
o
.
L
T
D
,
