NSK MEGATORQUE M-ESB-YSB2020AB300 - Acceleration Profiling

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7.2. For More Advanced Operation
7.2.8. Acceleration Profiling
à The TG command reports the state of gain switching. Refer to “7.1.18.8. Monitoring
State of Automatic Gain Switching” for more details.
7.2.8. Acceleration Profiling
l In addition to usual constant accelerating velocity profile, another four types of acceleration
profiling are available.
l You may set several patterns on acceleration and deceleration, and they are useful for wide
variety of applications.
Table 7-25: Parameters for acceleration profiling
Parameter Function Shipping set
CX
Sets the acceleration profiling function on and off. CX0
CS
Selects a pattern of acceleration profiling. CS1,1
CZ
Reads out the state of acceleration profiling. Command to read out
CY
Acceleration threshold to apply acceleration profiling. CY1
AR
Absolute positioning with the unit of pulse. Positioning command
AD
Absolute positioning with the unit of angular degree. Positioning command
IR
Incremental positioning with the unit of pulse. Positioning command
ID
Incremental positioning with the unit of angular
degree.
Positioning command
MA (CA)
Sets acceleration of Motor (acceleration/deceleration) MA1.1
Figure 7-48: Patterns of acceleration profiling
(1) Constant acceleration
Acceleration aVelocity V
(2) Modified sine
(3) Modified trapezoid
(4) Cychroid (5) Half sine
Acceleration aVelocity V Acceleration aVelocity V
Acceleration aVelocity V
Acceleration aVelocity V
l Setting the parameter CX to CX1 activates the acceleration profiling function.
l The parameter CS selects a pattern of acceleration profiling. A pattern may be programmed on
each Programmable Indexer channel.