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6.3. Velocity Control Mode Operation
6.3.3. Function to Limit Acceleration / Deceleration
6.3.3. Function to Limit Acceleration / Deceleration
l You may set limitation of steep changes in acceleration and deceleration induced by changes of
velocity commands.
l The parameter AL sets the limitation of acceleration and deceleration.
l If a command of acceleration or deceleration exceeds the setting of parameter AL, the
acceleration and deceleration will be limited to AL [ s
Figure 6-29: Limiting function of acceleration/deceleration
MNS velocity
PLS velocity
However, the function of limiting acceleration /deceleration is not valid in the following cases.
Limiting function of acceleration/deceleration is invalid if the parameter AL is set to 0.
l
No limitationas as acceleration is less
than AL.
AL
Velocity command
à When the Motor is stopping due to the EMST input or the MS command.
à When the control mode is position control or velocity control.
-2
].
AL
without limitation
Set AL limitation
— 6-36 —
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