Mitsubishi CRn-500 Series Instruction Manual page 35

(6) AXACC (acceleration time) · AXDEC (deceleration time)
Regarding each axis, these parameters set the acceleration/deceleration time from the stop state to
the maximum speed when the override of the servomotor which can be used is 100%. The default
value is 0.20 (seconds).
[Example]
When the acceleration/deceleration time of the servomotor set "Control axis No. of servo" as the 1st
axis is set as follows,
Acceleration time
Deceleration time
AXACC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
(Set "0.40" to the 1st element.)
AXDEC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
(Set "0.40" to the 1st element.)
(7) AXGRTN (total speed ratio numerator) · AXGRTD (total speed ratio denominator)
These parameters set the numerator and denominator of the total speed ratio of the servomotor
which can be used. As the total speed ratio, set a reduced fraction of the integers of the numerator
and denominator (1/18.5 → 2/37). The default value of AXGRTN is "1", and the default value of
AXGRTD is "10".
[Example]
When the total speed ratio of the servomotor axis set "Control axis No. of servo" as 1st axis is
25/8(mm/rev),
AXGRTN = 25, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 (Set "25" to the 1st element.)
AXGRTD = 8, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10 (Set "8" to the 1st element.)
The total speed ratio of the direct moving axis is calculated as follows. From the relationship of the
gear ratio and ball screw lead of "Fig. 7.1.2 Inside of direct moving unit", the movement amount of
the load per rotation of the motor is as follows.
5 × 5/8 = 25/8 [mm/rev]
Accordingly, since the motor speed when the load is moved 1mm becomes 8/25 rotation, the total
speed ratio becomes as follows.
AXGRTN/AXGRTD = 1/ (8/25) = 25/8
Gear
b
Servo motor
7.Setting, Operation and Command Explanation of Robot Additional Axis
0.40 (seconds)
0.40 (seconds)
Gear a
Fig. 7.1.2 Inside of direct moving unit
Load
Ball screw
Gear ratio: 5/8
Ball screw lead: 5mm/rev
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