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8.4.9 Trapezoidal Control Instruction (F171)
- This instruction automatically performs trapezoidal control according to the specified data table while
the trigger (execution condition) is on.
Control method of Trapezoidal control instruction (F171): Type 0 and Type 1
There are two kinds of operation modes, which are type 0 and type 1.
Type 0
- For type 0, the time from the initial speed to the target speed is specified as acceleration time or
deceleration time.
- The time specified in a program is set as the acceleration time to be processed in the PLC as is. The
same is true for the deceleration time.
- After the execution of the instruction, the speed up to the target speed can be changed.
Type 1
- For type 1, the time from the initial speed to the maximum speed (50 kHz) is specified as acceleration
time or deceleration time.
- When the target speed is below 50 kHz, the acceleration time processed in the PLC is relatively shorter
than the time specified in a program. The same is true for the deceleration time.
- Use the type 1 to change the speed to a speed faster than the target speed after the execution of the
instruction.
- After the execution, the speed up to the maximum speed, 50 kHz can be changed.
Note:
For the details of the difference in acceleration/deceleration characteristics, refer to "8.4.17 Difference in
Acceleration/Deceleration Characteristics Between Instructions".
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