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282
Acceleration and Deceleration Operations
Section 7-4
Exponential Acceleration/Deceleration Curve
The acceleration/deceleration for the exponential acceleration/deceleration
curve is determined by the Servo Parameters
Exponential Accelera-
tion/Deceleration Bias
(Pn810) and
Exponential Acceleration/Deceleration
Time Constant
(Pn811). The speed set in
Exponential Acceleration/Decelera-
tion Bias
(Pn810) is used as the start speed. The time until reaching 63.2% of
the difference between the speed command value and the start speed is set
in the
Exponential Acceleration/Deceleration Time Constant
(Pn811).
When an exponential acceleration/deceleration curve is used, the accelera-
tion/deceleration time is always fixed regardless of the speed command value.
S-curve (Movement Average) Acceleration/Deceleration Curve
Speed
Pn811
Pn811
Pn810
Speed command v
alue
Time
(Speed command value
−
Pn810)
×
63.2%
(Speed command value
−
Pn810)
×
63.2%
S
peed
S
peed comm
a
nd
v
a
l
u
e
The
s
lope of the
a
cceler
a
tion/deceler
a
tion
s
peed for the
S
-c
u
rve
a
cceler
a
tion/deceler
a
tion c
u
rve i
s
s
m
a
ller th
a
n the
m
a
xim
u
m
a
cceler
a
tion/deceler
a
tion of the line
a
r
a
cceler
a
tion/deceler
a
tion c
u
rve.
Time
Pn
8
12
(Pn10E)
Pn
8
0C
Pn
8
0F
Pn
8
0A
(Pn107)
Pn
8
0B
Pn
8
0E
Pn
8
0D
(Pn10A)
Pn
8
12
(Pn10E)
[Pn
8
11]
[Pn
8
1
8
]
[Pn
8
14]
[Pn
8
1
8
]
U
s
e the p
a
r
a
meter n
u
m
b
er
s
in
the p
a
renthe
s
e
s
( ) for G
s
erie
s
S
ervo Drive
s
.
Note:
U
s
e the p
a
r
a
meter n
u
m
b
er
s
in
the p
a
renthe
s
e
s
[ ] for G5
s
erie
s
S
ervo Drive
s
.
Note:
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 ...