6.1 Position Control
6.1.2 Positioning Command
6
Function/Command Related Parameter
s
6-3
Using the Acceleration/Deceleration Set in the Parameters
The setting of the 1st digit of parameter Pn833 (i.e., Pn833 = n.
X) determines which
parameter to use for acceleration/deceleration when both the acceleration and deceleration
rates (ACCR and DECR) in the command are set to 0.
Note: Make settings so that the distance required for deceleration and the deceleration satisfy the following condi-
tions.
Deceleration [reference unit/s
2
]
≥
Maximum reference speed [reference unit/s]
2
/ (Maximum deceleration dis-
tance [reference unit]
×
2)
Acceleration/Deceleration Constant Switching Setting
Note: The setting will be validated by turning the power supply OFF and then ON again, or by executing the CON-
FIG command.
Acceleration/Deceleration Parameters when Pn833=n.
0
Parameter
Meaning
Data Size
(Byte)
Setting
Range
Unit
Pn833
n.
0
(Factory set-
ting)
Use Pn80A to Pn80F and Pn827. (The settings
of Pn834 to Pn840 are ignored.)
2
0000h to
0001h
–
n.
1
Use Pn834 to Pn840. (The settings of Pn80A to
Pn80F and Pn827 are ignored.)
Parameter
Name
Data Size
(Byte)
Setting
Range
Unit
Factory
Setting
Pn80A
First Stage Linear Acceleration Con-
stant
2
1 to 65535
10000 reference
units/s
2
100
Pn80B
Second Stage Linear Acceleration
Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80C
Acceleration Constant Switching
Speed
2
0 to 65535
100 reference units/s
0
Pn80D
First Stage Linear Deceleration Con-
stant
2
1 to 65535
10000 reference
units/s
2
100
Pn80E
Second Stage Linear Deceleration
Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80F
Deceleration Constant Switching
Speed
2
0 to 65535
100 reference units/s
0
Pn827
Linear Deceleration Constant 1 for
Stopping
2
1 to 65535
10000 reference
units/s
2
100
T
S
PD
Reference
s
peed
Acceleration
con
s
tant
s
witching
s
peed
1
s
t linear acceleration con
s
tant
2nd linear
acceleration con
s
tant
1
s
t linear deceleration con
s
tant
Time
2nd linear deceleration con
s
tant
Deceleration con
s
tant
s
witching
s
peed