6 Coordinated control for additional axes
6-108 Additional axis tracking
P_TrkPAcl / P_TrkPDcl
【Function】
Change the tracking acceleration/deceleration coefficient of the parameter “TRPACL/TRPDCL”.
【Format】
P_TrkPAcl(<Condition number >) = <Position data>
<Position variables> = P_TrkPAcl(<Condition number>)
P_TrkPDcl(<Condition number>) = <Position data>
<Position variables> = P_TrkPDcl(<Condition number>)
【Terminology】
<Condition number> Specify the condition number corresponding to the tracking.
Setting range：1 to 8
<Position data> Specify the tracking acceleration/deceleration coefficient.
Setting range: For each component, 0.10 to 10.0
【Reference program】
1 P_TrkPAcl(1) = (0.2,0.2,0.2,1.0,1.0,1.0,1.0,1.0)
' Specify the tracking acceleration coefficient.
2 P_TrkPDcl(1) = (0.2,0.2,0.2,1.0,1.0,1.0,1.0,1.0)
' Specify the tracking deceleration coefficient.
【Explanation】
(1) Specify the acceleration/deceleration coefficient of the additional axis tracking.
(2) You can confirm the tracking acceleration/ deceleration coefficient by referencing “P_TrkPAcl/P_TrkPDcl”.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated
as "1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8."
Entering anything else causes L3110 (Argument value range over) error to occur.
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