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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
7.2.8. Acceleration Profiling
l In addition to usual constant accelerating velocity profile, another four types of acceleration
profiling are available.
l You may set several patterns on acceleration and deceleration, and they are useful for wide
variety of applications.
Table 7-25: Parameters for acceleration profiling
Parameter
CX
CS
CZ
CY
AR
AD
IR
ID
MA (CA)
Figure 7-48: Patterns of acceleration profiling
(1) Constant acceleration
(4) Cychroid
l Setting the parameter CX to CX1 activates the acceleration profiling function.
l The parameter CS selects a pattern of acceleration profiling. A pattern may be programmed on
each Programmable Indexer channel.
à The TG command reports the state of gain switching. Refer to "7.1.18.8. Monitoring
State of Automatic Gain Switching" for more details.
Sets the acceleration profiling function on and off.
Selects a pattern of acceleration profiling.
Reads out the state of acceleration profiling.
Acceleration threshold to apply acceleration profiling.
Absolute positioning with the unit of pulse.
Absolute positioning with the unit of angular degree.
Incremental positioning with the unit of pulse.
Incremental positioning with the unit of angular
degree.
Sets acceleration of Motor (acceleration/deceleration)
(2) Modified sine
(5) Half sine
Function
— 7-53 —
7.2. For More Advanced Operation
7.2.8. Acceleration Profiling
Shipping set
CX0
CS1,1
Command to read out
CY1
Positioning command
Positioning command
Positioning command
Positioning command
MA1.1
(3) Modified trapezoid
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