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9 Auto-change drive function
While trapezoidal drive moving, speed, acceleration/deceleration rate can be changed by the data scheduled in
advance. The timing and the contents of the change data can be set to maximum 128 data. The timing of the
change can be set by relative position data from the start point, the time (ms) from change point before or drive
speed.
This is done with the command in remote mode all of the specified series of operations.
1. Data input
(*) Rate settings
Rate number setting is possible from 0 ~ 115. However, there is the limit to the
possible values depending on the current rate number.
A number must be belonged to the same group when the
rate number will be changed.
(example: At the rate number is 50, the rate No. belong
to H1 group. If you want to change in a group M1 rate
change command, you must be set to 24-84 the rate No.
beforehand.)
Command ACS<ch><dno>/<chg>/<data>/<fnc>/<spd>
Set the auto-change drive
function.
Argument
<dno>
Data No.
000 ~ 127
Select data that will store the command below.
Data is performed in ascending order from 000.
<chg>
Speed
change
condition
ADD/ relative address from start point
TIM/
relative time from previous point.
ACC/ speed data while acceleration
DEC/ speed data while deceleration
END/ end of data. Please make sure to put in next to
the last changes.
<data>
Condition
value
<chg>=ADD: relative address (
±
2,147,483,647)
<chg>=TIM: relative time (0 ~ 65,535ms)
<chg>=ACC,DEC: pulse speed (1 ~ 5,000,000pps)
<fnc>
Execution
behavior
SPD/ Speed change
RTE/ Rate change
SLW/ SLOW STOP
FST/ FAST STOP
NOP/ no operation. Skip this data.
<spd>
Changed
value
<fnc>=SPD: pulse speed (1 ~ 5,000,000pps)
<fnc>=RTE: rate No.(0 ~ 115) (remark1)
Other case: no need to write.
Reply Nothing
Example Plesase see the below.
Remarks Only remote mode
Group
Rate No.
L1 type
0 ~ 60
L2 type
17 ~ 76
M1 type
24 ~ 84
M2 type
31 ~ 91
H1 type
41 ~ 100
H2 type
55 ~ 115
