Oriental motor EMP400 Series, Руководство по эксплуатации

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9 Program command
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78
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9.5.26.
RAMP
Name Set acceleration/deceleration pattern and jerk-limit time
Valid
mode Direct input/program
RAMP (1 | 2) [, | ] n1 ([, | ] n2)
Parameter Data range Default
(1 | 2) Axis 1 (select axis 1), 2 (select axis 2)
If this parameter is omitted, axis 1 will be
selected.
n1 Acceleration/
deceleration
mode
0 (linear acceleration/deceleration)
1 (jerk-limit control)
0
Syntax
n2 Jerk-limit
time
0.1 to 200,000.0 (0.1 ms increments)
If this parameter is omitted, initial value will
be used.
50
Function Sets the acceleration/deceleration pattern.
For the acceleration/deceleration pattern, select either linear
acceleration/deceleration or jerk-limit control. The acceleration/deceleration pattern
set here is common to positioning, continuous and mechanical home seeking
operations (excluding the 2-axis linear interpolation operation).
Jerk-limit time will be valid when the acceleration/deceleration pattern is set to
jerk-limit control. This setting will be invalid under the linear acceleration/deceleration
setting.
Request 0>RAMP1
0: RAMP1 = 0, 50
0>RAMP2
0: RAMP2 = 0, 50
About jerk-limit time
Set the jerk-limit time when the acceleration/deceleration pattern is set to jerk-limit control mode.
Jerk-limit time n2 applies to the sections shown in the diagram below.
n2 n2
A
B
A
n2 n2
A: Jerk-limit acceleration/deceleration area
B: Linear acceleration/deceleration area
Time
Speed
Memo If a value corresponding to twice the jerk-limit time exceeds the acceleration/deceleration
time, the jerk-limit time n2 will be adjusted to one half the acceleration/deceleration time.
The linear acceleration/deceleration area will disappear.