3.2 Servo Commands
3.2.19 Motion Command Data Setting Method
3
Main Command
s
3-53
*1.
Maximum commandable speed = 2097152000 [Reference unit/s]
*2.
Maximum output speed = Common parameter 05
*3.
Maximum acceleration/deceleration = 209715200000 [Reference unit/s
2
]
ACCR
DECR
Accelera-
tion,
Deceleration
(position
control)
Set the acceleration/deceleration with unsigned 4-byte data.
1 to
Maximum acceleration
*3
Maximum deceleration
0h
Normal
Operates according to the setting.
Maximum acceleration or
greater
Maximum deceleration or
greater
9h
A.94B
Ignores the command and continues the previous
command.
0, 80000000h to FFFFFFFEh
9h
A.94B
Ignores the command and continues the previous
command.
FFFFFFFFh
0h
Normal
Operates at the maximum acceleration/deceleration
and the alarm CMD_ALM does not occur.
Both ACCR and DECR are
set at "0."
0h
Normal
Acceleration/deceleration is performed according to
the parameter settings.
ACCR
DECR
Accelera-
tion,
Deceleration
(speed
control)
Set the acceleration/deceleration with unsigned 4-byte data.
Unit:
×
10
n
[Reference unit/s
2
]
1 to
Maximum acceleration
Maximum deceleration
0h
Normal
Operates according to the setting.
Maximum acceleration or
greater
Maximum deceleration or
greater
9h
A.94B
Ignores the command and continues the previous
command.
0, 80000000h to FFFFFFFEh
9h
A.94B
Ignores the command and continues the previous
command.
FFFFFFFFh
0h
Normal
Operates at the maximum acceleration/deceleration
and the alarm CMD_ALM does not occur.
Both ACCR and DECR are
set at "0."
9h
A.94B
Ignores the command and continues the previous
command.
Continued from previous page.
Name
Description
Setting
CMD_ALM
Warning
Code
Operation for the Setting