EA180 Servo Drive Manual
83
1. using this method, the motion commands can be smoothed and the vibration and abnormal sound of the mechanical
structure can be avoided because of the sharp change of the position commands.
2. P9-03, P9-04 indicate that the motor speed variables are acceleration and deceleration time for motor rated speed. If
the change in target speed is not motor rated speed, the required time varies according to the ratio of the motor to the
rated speed.
For example, the motor target speed is 1500rpm, the motor rated speed is 3000rpm, P9-03=200ms, P9-04=300ms,
then the motor speed from 0 to 1500rpm, the required time is 100ms, from 1500rpm to 0 speed reduction, the required
time is 150ms.
Here below are description of the three parameters P9-06~P9-08 related to the first segment Pr1, other 15 segments are the same
without detailed explanation.
The number of pulses of the multi-position command
Pr1
Parameter function: set the number of target pulses to move in first segments.
This parameter is a signed number, the positive number indicates that the motor is rotating in the forward direction specified by
P0-01, whereas the negative number is the reverse.
The set pulses number corresponds to the command pulse unit.
Multi-position command Pr1 Movement speed
Parameter function:set the speed at which the first segment moves at uniform speed.
If the position pulse is less, the motor may not actually reach this speed when it is actually running. Therefore, the
meaning of the parameter is understood as the upper limit of the motor speed during the execution of the Pr1
segment position.
Parameter function: when the cycle operation (P9-00=0, 1, 2) is selected, the pulse number of this section is completed, and after
waiting for this time, the next segment of the position command is executed.
This parameter is invalid when P9-00=3, 4, 5, 6, and 7
Pulse no. of Multi-position command Pr2
Travel rate of Multi-position command Pr2
Pulse no. of Multi-position command Pr3
Travel rate of Multi-position command Pr3
Pulse no. of Multi-position command Pr4
Travel rate of Multi-position command Pr4
Pulse no. of Multi-position command Pr5
Travel rate of Multi-position command Pr5
Pulse no. of Multi-position command Pr6
Travel rate of Multi-position command Pr6
Pulse no. of Multi-position command Pr7
Travel rate of Multi-position command Pr7
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