NOVA electronics Inc. MCX514 -
192
－
192
－
7.2.5
Initial Speed Setting
Code
Command
Symbol
Data Range
Data Length
(byte)
０４
h
Initial speed setting
ＳＶ
1
～
8,000,000
４
“SV” is the parameter determining the initial speed for the start of acceleration and the termination of deceleration. The unit of the
setting value is pps.
Initial Speed = SV [pps]
For a stepper motor, the user should set the initial speed smaller than the self-starting frequency of a stepper motor. If there is the
mechanical resonance frequency, set the initial speed to avoid it.
In fixed pulse driving, if the value which is too low is set to initial speed, premature termination or creep pulses may occur.
・
In linear acceleration/deceleration driving, set the value more than square root of an acceleration setting value.
・
In S-curve acceleration/deceleration driving, set the value more than 1/10 times the square root of a jerk setting value.
・
In Partial S-curve acceleration/deceleration driving, set the value more than square root of an acceleration setting
value.
Linear acceleration/deceleration driving
AC
SV
≧
, S-curve acceleration/deceleration driving
1/10
JK
≧
SV
×
,
Partial S-curve acceleration/deceleration driving
AC
SV
≧
An initial speed setting value can be read by initial speed setting value reading command (44h).
7.2.6
Drive Speed Setting
Code
Command
Symbol
Data Range
Data Length
(byte)
０５
h
Drive speed setting
ＤＶ
1
～
8,000,000
４
“DV” is the parameter determining the speed of constant speed period in trapezoidal driving. In constant speed driving, the drive
speed is the initial speed. The unit of the setting value is pps.
Drive speed = DV [pps]
If the drive speed is set a lower value than the initial speed, the acceleration / deceleration will not be performed, and the driving is
constant speed. If the user wants to perform instant stop immediately after the signal is detected during such as the encoder
Z-phase search (at a low-peed driving), the drive speed must be set lower than the initial speed.
A drive speed can be altered during the driving. When the drive speed of next constant speed period is newly set, the acceleration
or deceleration is performed to reach the new setting speed, then a constant speed driving starts.
In automatic home search, this drive speed is used for high-speed search speed of Step 1 and high-speed drive speed of Step 4.
[Note]
•
In fixed pulse S-curve acceleration / deceleration driving (when in auto deceleration mode) or in fixed pulse
non-symmetrical linear acceleration / deceleration driving (when in auto deceleration mode), there is no way to change
the drive speed during the driving.
•
In continuous S-curve acceleration / deceleration driving, the drive speed can be changed in the constant speed period
during the driving, but changing the drive speed during the acceleration / deceleration will be disabled.
•
In fixed pulse symmetrical trapezoidal driving, the drive speed can be changed during the driving, however the frequent
changes of drive speed may generate premature termination or creep.
•
The drive speed cannot be changed during interpolation driving.
