HarmonicDrive H A - 800A, Руководство пользователя

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7-6 Details of tune mode
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AJ12: Acceleration time constant
Set the time over which the actuator will accelerate from the standstill state to the value set in function
extension mode parameter [SP51: Speed input factor] during speed control.
Set value Function Unit Default
1 to 9999
Set the time over which to
accelerate from the standstill
state to [SP51: Speed input
factor].
ms 1

[AJ12: Acceleration time constant] and [AJ13: Deceleration time constant] are
used during speed control. See below for details:

When the speed command changes, the speed command in the driver will
change based on this set value. Refer to the following for the conditions in
which the acceleration time constant AJ12 and deceleration time constant AJ13
are applied.

External (Analog voltage) speed command change: [AJ12: Acceleration
time constant]

Internal speed command change (Switch): [AJ12: Acceleration time
constant]

Switching between external speed command and internal speed command:
[AJ12: Acceleration time constant]

Speed command change when FWD enable SP05 or REV enable SP06 is
enabled (Speed change from zero to FWD/REV rotation): [AJ12:
Acceleration time constant]

Speed command change when FWD enable SP05 or REV enable SP06 is
disabled (Speed change from FWD/REV rotation to zero speed): [AJ13:
Deceleration time constant]
Operation example
(1) Input a FWD enable signal after a positive speed command has been input
⇒
The actuator operates according to the acceleration time constant.
(2) Input a negative speed command in the condition in (1)
⇒
The actuator operates according to the acceleration time constant.
(3) Change the speed command to 0V in the condition in (1)
⇒
The actuator operates according to the acceleration time constant.
(4) Also input a REV enable signal in the condition in (1)
⇒
The actuator operates according to the deceleration time constant.
(5) Turn the FWD enable signal OFF in the condition in (1)
⇒
The actuator operates according to the deceleration time constant.
AJ13: Deceleration time constant
Set the time over which the motor rpm will decelerate from the value set in system parameter [SP51: Speed input
factor] to [0 r/min].For details, refer to [AJ12: Acceleration time constant].
Set value Function Unit Default
1 to 9999
Set the time over which to
decelerate to 0 r/min.
ms 1