8 CONTROL SUB FUNCTIONS
8.5 Functions to Change the Control Details
257
8
Precautions during control
• When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/
deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the
acceleration/deceleration time previously set in the parameters.
• The "new acceleration/deceleration time" is valid during execution of the positioning data for which the speed was changed.
In continuous positioning control and continuous path control, the speed is changed and control is carried out with the
previously set acceleration/deceleration time at the changeover to the next positioning data, even if the acceleration/
deceleration time is changed to the "new acceleration/deceleration time ([Cd.10], [Cd.11])".
• Even if the acceleration/deceleration time change is set to disable after the "new acceleration/deceleration time" is
validated, the positioning data for which the "new acceleration/deceleration time" was validated will continue to be
controlled with that value. (The next positioning data will be controlled with the previously set acceleration/deceleration
time.)
• If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration
time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time".
• The acceleration/deceleration change function cannot be used during speed control mode, torque control mode or
continuous operation to torque control mode. Refer to the following for the acceleration/deceleration processing during
speed control mode or continuous operation to torque control mode.
Page 193 Speed-torque Control
Disabled Enabled
Speed change
Speed change
t
V
Positioning start
Disabled
[Cd.12] Acceleration/deceleration time
change value during speed
change, enable/disable
New acceleration/deceleration
time ([Cd.10], [Cd.11])
Speed change
Disabled Enabled
00
1000
[Cd.10] New acceleration time value
Speed change
Speed change
t
V
[Cd.11] New deceleration time value
Controlled with the acceleration/
deceleration time in the parameter.
New acceleration/deceleration
time ([Cd.10], [Cd.11])
[Cd.12] Acceleration/deceleration time
change value during speed
change, enable/disable
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