NSK MEGATORQUE M-ESB-YSB2020AB300 - Page 213

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7.3. RS-232C Communication
7.3.1. Specifications of Communication
2
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Triangle Pattern 2: Decelerated in the same pattern as acceleration due to insufficient
positioning distance. (Figure 7-52)
Figure 7-50: Readout code 1: Proper acceleration profiling
Accelerating
distance
Positioning distance
> Accelerating distance + Decelerating distance
Velocity
Acceleration
MA (Accel.)
MA (Decel.)
CY
MV
|MA (Accel.)|
³
|CY|
|MA (Decel.)|
³
|CY|
0
CY
0
MA (Accel.)
MA (Decel.)
CY
0
CY
MV
0
|MA (Accel.)|
³
|CY|
|MA (Decel.)|
³
|CY|
Positioning distance
> Accelerating distance + Decelerating distance
Decelerating
distance
Accelerating
distance
Decelerating
distance
Figure 7-51: Readout code 2: Decelerated in the middle of accelerating due to insufficient
positioning distance
Required
accelerating
distance
Distance of positioning command
<
Required accelerating distance +
Required decelerating distance
Distance of positioning command
<
Required accelerating distance × 2
When above conditions are met,
accelerating profile will be a triangle.
Position command
Velocity
Acceleration
MA (Accel.)
MA (Decel.)
MV
0
0
Changed profile
Actual profile
Required
decelerating
distance
Deceleration profile will be the same
as that of acceleration.
Figure 7-52: Readout code 3: Decelerated with same pattern as acceleration due to insufficient
positioning distance
Required
accelerating
distance
Required
decelerating
distance
Distance of positioning command
<
Required accelerating distance
+
Required decelerating distance
Moving distance during accleration
< Moving distance during deceleration
Distance of positioning command
³
Required accelerating distance
× 2
When above conditions are met,
decelerating profile will be the same as
that of acceleration.
Position command
Velocity
Acceleration
MA (Accel.)
MA (Decel.)
MV
Changed profile
Actual profile