6.7 Acceleration/Deceleration Parameter High-speed Switching Function
6-18
6.7
Acceleration/Deceleration Parameter High-speed Switching Function
This function switches all of the acceleration/deceleration parameters that are used for posi-
tioning at the same time.
Register the acceleration/deceleration parameter settings in a bank before starting operation,
and specify bank selector BANK_SEL1 in the data field of the command to switch the acceler-
ation/deceleration parameter settings to those of the registered bank.
Specifying a Bank
Specify a bank with the BANK_SEL1 bits of the SVCMD_IO field of the command.
Note: If a bank number larger than the bank number set in Pn900 is specified (BANK_SEL1
≥
Pn900), the parame-
ter bank will not switch and the currently active bank will be used. The parameters will not switch while DEN
= 0 (Distributing) either.
Parameter Bank Setting
Set the following parameters.
*
The parameters Pn920 to Pn95F will not be stored in the non-volatile memory. They need to be set every time the
power is turned ON.
Parameters that can be Registered as Bank Members
The following parameters can be registered as parameter bank members by parameters Pn902
to Pn910.
For 4-byte parameters, one parameter must be registered as two consecutive members.
(See Setting Example 2.)
Name
Description
Setting Data
BANK_SEL1 (4 bits)
Bank selector 1
(acceleration/deceleration bank)
Bank 0 to 15
Parameter No.
Name
Data Size
(Byte)
Setting Range
Factory
Setting
Pn900
Number of Parameter Banks
2
0 to 16
0
Pn901
Number of Parameter Bank
Members
2
0 to 15
0
Pn902 to Pn910
Parameter Bank Member
Definition
2
0000h to 08FFh
0
Pn920 to Pn95F
*
Parameter Bank Data
2
0000h to FFFFh
Depends on bank mem-
ber.
0
Parameter
Name
Data Size
(Byte)
Setting Range
Unit
Factory
Setting
Pn80A
First Stage Linear Acceleration
Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80B
Second Stage Linear Accelera-
tion Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80C
Acceleration Constant Switch-
ing Speed
2
0 to 65535
100 reference units/s
0
Pn80D
First Stage Linear Deceleration
Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80E
Second Stage Linear Decelera-
tion Constant
2
1 to 65535
10000 reference
units/s
2
100
Pn80F
Deceleration Constant Switch-
ing Speed
2
0 to 65535
100 reference units/s
0
Pn834
First Stage Linear Acceleration
Constant 2
4
1 to 20971520
10000 reference
units/s
2
100
Continued on next page.