7 Before Starting Positioning Operation
80
FX
3U
-20SSC-H Positioning Block User's Manual
7.2 Outline of Positioning Operation
Note
• Trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration
If trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration are
performed under the same conditions (travel distance, operation speed and acceleration/deceleration
time), the positioning time for the approximate S-shaped acceleration/deceleration is longer by 64ms.
• Approximate S-shaped acceleration/deceleration
Specify 64ms or more (64 to 5000) for the acceleration time, acceleration time 2, deceleration time or
deceleration time 2.
• If the operation speed [jog speed, operation speed 1, operation speed 2, zero return speed (high speed) or
zero return speed (creep)] is 0Hz, operation is performed at 1Hz.
• When the operation speed is changed by the override function during interpolation operation, the
acceleration/deceleration time (interpolation time constant) changes according to the ratio by which the
operation speed changes
→
For override function details, refer to Subsection 7.6.1
Acceleration
/deceleration
time
Acceleration time
BFM #14018
BFM #14218
Time needed to reach the maximum speed from zero speed
Acceleration time 2
(Ver. 1.30 or later)
BFM #14108
BFM #14308
Deceleration time
BFM #14020
BFM #14220
Time needed to reach zero speed from the maximum speed
Deceleration time 2
(Ver. 1.30 or later)
BFM #14110
BFM #14310
Interpolation time
constant
BFM #14022
BFM #14222
Acceleration/deceleration time for interpolation operation.
Time to reach the operation speed from zero speed (for
acceleration) or time to reach zero speed from operation
speed (for deceleration)
Travel
distance
Target address 1
BFM #501,#500
BFM #601,#600
Target position (absolute address) or travel distance (relative
address) in each operation mode
Target address 2
BFM #505,#504
BFM #605,#604
Target position (absolute address) or travel distance (relative
address) for two-speed positioning operation
Positioning completion
[Status information]
BFM #28 b6
BFM #128 b6
The flag is reset at the beginning of each operation or at the
error occurrence, and it is set upon normal completion.
However, the flag is not set during stop operation or for the
following operations even if the operation finishes normally.
•
JOG operation
•
Mechanical zero return (data setting type)
•
Manual pulse generator operation
•
Variable speed operation
Item
BFM number
Description
X-axis
Y-axis
Operation
speed
100ms
100%
Change operation speed
New
operation
speed
130ms
Actual acceleration/deceleration
time (interpolation time constant)
after the operation speed change.
130%
*1
130ms
*1
*1
100ms
(Interpolation
time constant)
(Interpolation
time constant)