Basic description of PCL series
-18-
POINT 3. Various acceleration/deceleration patterns
Each speed pattern can specify the following
elements independently:
- Initial speed
- Operation speed
- Acceleration speed characteristics
(acceleration rate, acceleration S-curve
range)
- Deceleration characteristics
(deceleration rate, deceleration S-curve
range)
Therefore, the various acceleration/deceleration
patterns in Figure 7 can be used.
The rampdown point can be set automatically as
long as the (Deceleration time) (Acceleration
time x 2)
POINT 4. Target position and speed override during operation
During operation, the target position and speed
can be changed freely (by overwriting them).
[Target position override]
By overwriting the target position data during
operation, the target position can be overridden.
The PCL changes the target position with the
start position as the reference point.
The examples in Figure 8 are as follows:
◆
When the target position is changed to a point further
away than the preset target position during acceleration
or constant speed operation, the PCL will operate with
the current speed pattern and complete the positioning
using the new data.
◆
When target position is changed to a point further away
than the preset target position while decelerating, the
PCL will accelerate again from the current position to the
specified operation speed and then complete the
positioning using the new data.
◆
When the motor has already passed the new position, or
you change the target position so that it is closer than the
preset target position while decelerating, the motor will
decelerate and stop. Then it will reverse and complete
the positioning using the new data.
[Speed pattern]
Operation
speed
Acceleration
S-curve range
Deceleration
S-curve range
Deceleration rate
Figure 6
Acceleration rate
t
f
Ramp down point of positioning operation: Manual or automatically set
Positioning operation
feed amount
Initial speed
Figure 7
f
f
f
f
f
f
f
f
t
t
t
t
t
t
t
t
[Examples of
acceleartion /
deceleration
patterns]
[Target position override]
Change to far
away position
Figure 8
Change to far
away position
Change to already
passed position
f
f
f
f
f
f
