Appendix
Time of ACC/DEC.
Unit: ms
Changeable in the
process
1 Run only when
RUN =1 and
E_STOP =0.
2 When
E_STOP=1, RUN
reset internal.
④ Explanation
The program detect each input by scanning (the Z phase is not affected by this), so when the
switch value changes and process not in time, there may be some delay. If the homing speed
(including search and close speed) is too high, the processing delay will be amplified, resulting in
inaccurate return.
Note: 1 When TA≠0, acceleration= (MAX_SPEED-MIN_SPEED) /TA(limited by maximum
acceleration if it is set before ); When TA=0, use MC253_SET_MAX_ACCELE to set maximum
acceleration, parameter will report error if not set. Same for TD, for two-axis instruction, if both
axes have set maximum acceleration, then adopt smaller one as system acceleration.
2 In theory, acceleration =【(MAX_SPEED - MIN_SPEED) / TA】. If the desired acceleration is too
small (less than 1), the instruction default internal acceleration is 1. Users can reasonably set
TA/TD according to the expected acceleration.
3 Import "Module emergency stop signal" in module input port: when the module detects this
signal, forbid to output pulse, and alarm at the status of pulse output instructions (such as
MC253_PTP_R, MC253_SPEED_CTL and MC253_PWM instructions). The corresponding
relation between axis number and emergency stop signal:
Axis 0 → I0.3
Axis 1 → I0.7
J.5 Debugging Example
Hybrid motion control instruction
Making stepping motor whose subdivision is 1000 and screw lead is 5mm to do to-and-fro
movement, a distance of 2000mm.
【System Explanation】
Attach one SM253 module and set it as point-point movement parameter of axis 0 after CPU in
this example. Call MC253_PTP_R to set controlling parameter.
I0.2 is hardware zero reset of A point which will be set as mechanical origin under limit switch
input.
I1.0 is emergency stop input of system;
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