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281
Acceleration and Deceleration Operations
Section 7-4
Servo Parameters
Acceleration/Deceleration Constants
For W-series Servo Drives, Pn810 and Pn811 must be set when using an
exponential curve, and Pn812 must be set when using an S-curve for the
acceleration/deceleration curve.
For G-series Servo Drives, Pn10E must be set when using an S-curve.
For G5-series Servo Drives, Pn818 must be set when using an S-curve.
Axis Operating Output Memory Areas
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
The acceleration/deceleration curve designation setting is enabled when the
bit for the movement command turns ON.
Note
(1) Do not set both the exponential curve designation and S-curve designa-
tion to 1 (enabled) in the acceleration/deceleration curve designation. En-
abling both settings may cause a malfunction.
(2) If an error occurs, the acceleration/deceleration curve for the deceleration
stop operation will be that currently specified in the acceleration/deceler-
ation curve designation, except for limit inputs and software limits. To use
a non-linear acceleration/deceleration curve for the deceleration stop op-
eration both when an error occurs and when operation is normal, make
sure that the acceleration/deceleration curve designation is kept enabled
during axis operations.
(3) Change the acceleration/deceleration constants using WRITE SERVO
PARAMETER while axis operation is stopped (Busy Flag =0). Do not
change parameters during axis operation. Changing parameters of an
active axis may result in incorrect positioning or other malfunction.
Type
Parameter name for G
Series (Parameter
name for W Series)
Unit
Setting
range
Paramet
er size
Default
setting
G5
Series
G
Series
W
Series
SMART-
STEP
Junior
Accelera-
tion/
decelera-
tion filters
Exponential accelera-
tion/deceleration bias
Com-
mand
units/s
0 to
32767
2
0
Not sup-
ported
Not sup-
ported
Pn810
Not sup-
ported
Exponential accelera-
tion/deceleration time
constant
0.1 ms
0 to
5100
2
0
Not sup-
ported
Not sup-
ported
Pn811
Not sup-
ported
Moving average time
(Movement average
time)
0.1 ms
0 to
5100
2
0
Pn818
Pn10E
Pn812
Not sup-
ported
Name
Word
Bit
Contents
G5 Series
G Series
W Series
SMARTSTE
P Junior
Accelera-
tion/decel-
eration
curve des-
ignation
Exponential
curve desig-
nation
a+16
03
1: Use exponential accelera-
tion/deceleration curve.
Not sup-
ported
Supported
Not sup-
ported
S-curve des-
ignation
04
1: Use S-curve accelera-
tion/deceleration curve.
Supported
Supported
Not sup-
ported
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...