61
Acceleration
Acceleration
Time
Target speed
Target speed
Initial speed #0
Initial speed number
other than 0
DM words m+82 through m+96
Set each word to a value between 0000 and 9999 pps (4 digits)
You can set up to fifteen speeds in these DM words, numbered from one to
fifteen. To each of these values, you assign a speed unit (in word m+97),
which multiplies the corresponding speed by 1, 10, or 100. You can then refer
to these settings by number to set speeds for START and several other com-
mands.
15 00
m+82
to
m+96
m+97
Bit number
x10
3
x10
3
15 00
x10
2
x10
2
x10
1
x10
1
x10
0
x10
0
Speed No. 1
to
Speed No. 15
Set speeds in BCD
from 0000 to 9999.
0
DM word m+97
You assign each of the bits in this word to one of the speeds you previously
set in words m+82 through m+96. Speed unit multiplication is affected by bit
04 of DM word m+3 as follows:
m + 97 bit*
M+3, bit 04
Condition
0
0
Speed multiplied by 1
1
Speed multiplied by 10
1
0
Speed multiplied by 1
1
Speed multiplied by 100
*Bit assignments are as follows:
Bit 00 is not used. Bit 01 is assigned to speed #1, bit 02 to speed #2, bit 03 to speed #3,
and so on, up to bit 15.
DM word m+98, bits 15 to 00, 3 digits
Set from 2 to 2,000 (BCD). Acceleration is in pps per ms.
DM word m+99, bits 15 to 00, 3 digits
Set from 2 to 2,000 (BCD). Deceleration is in pps per ms.
4–2
Positioning Actions
DM words m+22 through m+81
Speeds
Speed Units
Acceleration
Deceleration
Positioning Actions
