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4 PARAMETERS FOR POSITIONING CONTROL
[Error]
In the following cases, the servo program setting error (error code: 45 to 50) will occur,
and controls will be executed as trapezoidal acceleration/deceleration (A1R = A2R =
D1R = D2R = 0.0).
• Acceleration section 1 ratio is outside the range of 0.0 to 100.0[%].
• Acceleration section 2 ratio is outside the range of 0.0 to 100.0[%].
• Deceleration section 1 ratio is outside the range of 0.0 to 100.0[%].
• Deceleration section 2 ratio is outside the range of 0.0 to 100.0[%].
• "Acceleration section 1 ratio + Acceleration section 2 ratio" > 100.0[%]
• "Deceleration section 1 ratio + Deceleration section 2 ratio" > 100.0[%]
[Program]
A sample servo program using the advanced S-curve acceleration/deceleration is
shown below.
ABS-1
Axis 4, 1200000pulse
Speed 500000pulse/s
S.R. 500000pulse/s
ASC System 1
ASC Accel.1 20.0%
ASC Accel.2 35.0%
ASC Decel.1 20.0%
ASC Decel.2 35.0%
A1R = 20.0%
A2R = 35.0%
S.R.
Speed
D1R = 20.0%
D2R = 35.0%
Section
X
Acceleration section 1 ratio (A1R): 20.0%
Acceleration section 2 ratio (A2R): 35.0%
Deceleration section 1 ratio (D1R): 20.0%
Deceleration section 2 ratio (D2R): 35.0%
Acceleration
POINTS
When the advanced S-curve acceleration/deceleration is set, the travel value
(section X above) at the commanded speed is different than when using
trapezoidal acceleration/deceleration (A1R=A2R=D1R=D2R=0.0).
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