SET
ter-
min-
al
301FHex-1AHex
301FHex-1BHex
2CH
ter-
min-
al
Output fre-
quency
For-
war
d/
re-
vers
e
RT2
ter-
min-
al
RT1
ter-
min-
al
Acceleration time Deceleration time
2nd
con-
trol
0: 2CH
OFF - - - -
3005Hex-0BHex
2nd Acceleration
T
ime 1
3005Hex-0CHex
2nd Deceleration
Time 1
ON
- - - -
3005Hex-0FHex
2nd Acceleration
Time 2
3005Hex-10Hex
2nd Deceleration
Time 2
1: Switch frequen-
cy
-
Disable - - -
3005Hex-0BHex
2nd Acceleration
Time 1
3005Hex-0CHex
2nd Deceleration
Time 1
2: Switching nor-
mal/reverse rota-
tion
-
-
Dis-
able
- -
3005Hex-0BHex
2nd Acceleration
Time 1
3005Hex-0CHex
2nd Deceleration
Time 1
3: R
T1/2
- - - OFF OFF
3004Hex-08Hex
1st Acceleration
Time 1
3004Hex-09Hex
1st Deceleration
Time 1
-
- - OFF ON
3005Hex-0BHex
2nd Acceleration
Time 1
3005Hex-0CHex
2nd Deceleration
Time 1
-
- - ON OFF
3005Hex-0DHex
1st Acceleration
Time 2
3005Hex-0EHex
1st Deceleration
Time 2
-
- - ON ON
3005Hex-0FHex
2nd Acceleration
Time 2
3005Hex-10Hex
2nd Deceleration
Time 2
Acceleration/deceleration time selection during position control is basically the same as in speed con-
trol, with the exception of limits being applied to the following:
•
LAC terminal disabled
•
The function for switching the acceleration/deceleration time according to the output frequency when
“1: Switch frequency” is set to 1st 2-step Acceleration/ Deceleration switching Condition Selection
(301FHex-1AHex)/2nd 2-step Acceleration/Deceleration Switching Condition Selection
(301FHex-1BHex) is disabled. Ordinarily, the acceleration/deceleration time is used when the output
frequency is the threshold or less.
• The function for switching the acceleration/deceleration time according to the forward rotation/
reverse rotation when “2: Forward/reverse” is set to 1st 2-step Acceleration/ Deceleration switching
Condition Selection (301FHex-1AHex)/2nd 2-step Acceleration/Deceleration Switching Condition
Selection (301FHex-1BHex) is disabled. Ordinarily, the acceleration/deceleration time on the for-
ward rotation side is used.
Deceleration Time for Forced Stop (3008Hex-39Hex) is selected for the acceleration/deceleration time
in the following cases:
• When the RUN command (FWD, REV) is shut off and deceleration is performed during position con-
trol
• When an emergency stop is performed by detection of an overtravel (OT) or input of the “STOP”
signal
7 Vector Control and Applied Functions
7-41
M1 Series EtherCAT Type User’s Manual (I670)
7-7 Position Control
7
7-7-4 Acceleration/Deceleration Time Selection
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