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8-9
Section
Acceleration/Deceleration
197
8-8-5 Timing of Data Changes during Memory Operation
It is possible to change positioning sequences and the data used in positioning
sequences, such as speeds, positions, and acceleration times, during memory
operation. When performing positioning with the completion code set to continu-
ous, however, there will be a delay in the timing with which data changes are
reflected in operation.
When positioning sequences with completion codes set to continuous are being
executed continuously, the PCU reads up to 3 positioning sequences at the start
of memory operation. This means that if changes to data for a positioning
sequence are not made during execution of the positioning sequence at least 3
sequences before, these changes will not be reflected in operation.
If changes to the data used for
positioning sequence #n+3 are
made during this period, positioning
sequence #n+3 will be executed
according to the new settings.
Speed
Sequence #n
Completion code:
continuous
Time
When positioning sequences with completion code set
to continuous are executed continuously, the PCU
reads the data for up to 3 sequences in advance. After
the pulse output for the first sequence has stopped
(i.e., when the next sequence starts), the data for
positioning sequence n+3 (in this case) is read.
Positioning sequence to
be changed
If the speed used for positioning
sequence #n+3 is changed, the
speed will change in the way
shown at “A.”
Speed
A: If speed is lowered.
Time
Sequence #n+1
Completion code:
continuous
Sequence #n+2
Completion code:
continuous
Sequence #n+3
Completion code:
bank end
8-9
Acceleration/Deceleration
The acceleration time setting specified in positioning sequences used for
memory operation is the time it would take to go from the initial speed set in the
axis parameter area to the maximum speed, also set in the axis parameter area.
Similarly, the deceleration time setting is the time it would take to go from the
maximum speed to the initial speed. The actual acceleration and deceleration
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