4 The outline of motor control
12
Speed
Time
stop command
start command
MAX SPEED (= HSPD/MSPD/LSPD)
Speed
Time
MAX SPEED(= HSPD/MSPD)
A = 1000pps
B = 3000pps
stop command
start command
START and END
speed (= LSPD)
acceleration curve
(= RATE)
Constant drive (Const)
Motor drives at MAX speed as soon as drive execution, and stops immediately as
soon as stop operation. Too fast drive speed causes motor step out.
Low speed drive is always constant drive at all drive mode.
Trapezoidal form acceleration drive (Trape)
Acceleration operation is carried out until it will reach MSPD or HSPD by making
LSPD into initial velocity, if a motion command is executed.
When a stop command is input, the motor starts deceleration. And the motor stop
when speed reached LSPD. Acceleration and deceleration curve become rapid, and
time to reach maximum speed shortens so that Rate value shown by acceleration and
deceleration code (See page 64) is large.
Large value of "LSPD" may not make smooth start of the motor.
S shaped form acceleration drive (Schar)
stop command
acceleration curve
(= RATE)
Speed
Time
MAX SPEED (= HSPD/MSPD)
START and END
speed (= LSPD)
start command
