Panasonic FP0R User Manual page 195

Trapezoidal control Type 0 (F171)
Specify the time from the initial speed to the target speed as acceleration time and the time from the
-
target speed to the initial speed as deceleration time in the program.
Each section between the initial speed and the target speed, and between the target speed and the
-
initial speed is divided into the speed table of 30 steps to calculate the speed. Therefore, the
acceleration/deceleration is smoother compared to the trapezoidal control type 1.
After the execution of the instruction, the speed can be changed within the range of the target speed.
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To change the target speed to the one faster than the target speed right after the execution, select the
type 1..
Trapezoidal control Type 1 (F171)
Specify the time from the initial speed to the maximum speed (50 kHz) as acceleration time and the
-
time from the maximum speed (50 kHz) to the initial speed as deceleration time in the program. The
actual acceleration/deceleration time is relatively shorter than the specified acceleration/deceleration
time.
Each section between the initial speed and the maximum speed (50 kHz), and between the maximum
-
speed (50 kHz) and the initial speed is divided into the speed table of 30 steps to calculate the speed.
Therefore, the acceleration/deceleration is not as smooth compared to other control patterns especially
when the target speed is low. To use in a low-speed area with a device such as a stepping motor,
select the trapezoidal control Type 0.
After the execution of the instruction, the speed can be changed within the range of the maximum
-
speed (50 kHz).
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