Download Basic Description for PCL Series

Basic description of PCL series
POINT 3. Various acceleration/deceleration patterns
Each speed pattern can specify the following
elements independently:
- Initial speed
- Operation speed
- Acceleration speed characteristics
(acceleration rate, acceleration S-curve
range)
- Deceleration characteristics
(deceleration rate, deceleration S-curve
range)
f
Operation
speed
Figure 6
[Speed pattern]
Acceleration rate
Deceleration rate
Deceleration
S-curve range
Acceleration
S-curve range
Positioning operation
feed amount
Initial speed
t
Ramp down point of positioning operation: Manual or automatically set
f
f
f
Therefore, the various acceleration/deceleration
patterns in Figure 7 can be used.
t
f
t
f
t
f
The rampdown point can be set automatically as
long as the (Deceleration time) (Acceleration
time x 2)
t
f
t
t
f
[Examples of
acceleartion /
deceleration
patterns]
t
Figure 7
t
POINT 4. Target position and speed override during operation
During operation, the target position and speed
can be changed freely (by overwriting them).
[Target position override]
[Target position override]
By overwriting the target position data during
operation, the target position can be overridden.
The PCL changes the target position with the
start position as the reference point.
The examples in Figure 8 are as follows:
Figure 8
f
◆ When the target position is changed to a point further
away than the preset target position during acceleration
or constant speed operation, the PCL will operate with
the current speed pattern and complete the positioning
using the new data.
◆ When target position is changed to a point further away
than the preset target position while decelerating, the
PCL will accelerate again from the current position to the
specified operation speed and then complete the
positioning using the new data.
◆ When the motor has already passed the new position, or
you change the target position so that it is closer than the
preset target position while decelerating, the motor will
decelerate and stop. Then it will reverse and complete
the positioning using the new data.
-18-
Change to far
away position
f
Change to far
away position
f
f
f
f
Change to already
passed position