Download PCL6045B_Application Manual 050713

1) Linear acceleration (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
2) S-curve without a linear range (MSMD=1 in the PRMD register and PRUS register =0)
(PRFH - PRFL) x (PRUR + 1) x 8
Acceleration time [s] =
Reference clock frequency [Hz]
3) S-curve with a linear range (MSMD=1 in the PRMD register and PRUS register >0)
(PRFH - PRFL + 2 x PRUS) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
PRDR: Deceleration rate setting register (16-bit)
Normally, specify the deceleration characteristics for high speed operations (acceleration/deceleration
operations) in the range of 1 to 65,535 (0FFFFh).
Even if the ramping-down point is set to automatic (MSDP = 0 in the PRMD register), the value placed in
the RDR register will be used as the deceleration rate.
However, when PRDR = 0, the deceleration rate will be the value placed in the PRUR.
To turn ON the auto setting of the rampdown point, specify (deceleration time) (acceleration time x 2)
for independent operation, and (deceleration time) = (acceleration time) for interpolation operation.
If the times entered are (deceleration time) > (acceleration time x 2) in independent operation, or
(deceleration time) > (acceleration time) in interpolation operation, the motor may not complete
deceleration to FL speed when stopping. In this case, use the manual rampdown point mode (MSDP=1 in
the PRMD register).
1) Linear deceleration (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
2) S-curve deceleration without a linear range (MSMD=1 in the PRMD register and PRDS register = 0)
(PRFH - PRFL) x (PRDR + 1) x 8
Deceleration time [s] =
Reference clock frequency [Hz]
3) S-curve deceleration with a linear range (MSMD=1 in the PRMD register and PRDS register >0)
(PRFH - PRFL + 2 x PRDS) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
PRMG: Magnification rate register (12-bit)
Specify the relationship between the PRFL and PRFH settings and the speed, in the range of 2 to 4,095
(0FFFh). As the magnification rate is increased, the speed setting units will tend to be approximations.
Normally set the magnification rate as low as possible.
The relationship between the value entered and the magnification rate is as follows.
Reference clock frequency [Hz]
Magnification rate =
(PRMG + 1) x 65536
[Magnification rate setting example, when the reference clock =19.6608 MHz] (Output speed unit: pps)
Setting
2999 (0BB7h)
1499 (5DBh)
599 (257h)
299 (12Bh)
149 (95h)
Magnification
rate
0.1
0.2
0.5
1
2
Output speed
range
0.1 to 6,553.5
0.2 to 13,107.0
0.5 to 32,767.5
1 to 65,535
2 to 131,070
Setting
59 (3Bh)
29 (1Dh)
14 (0Eh)
5 (5h)
2 (2h)
Magnification
rate
5
10
20
50
100
Output speed range
5 to 327,675
10 to 655,350
20 to 1,310,700
50 to 3,276,750
100 to 6,553,500
PRDP: Ramping-down point register (24-bits)
Specify the value used to determine the deceleration start point for positioning operations that include
acceleration and deceleration.
The meaning of the value specified in the PRDP changes with the "ramping-down point setting method",
(MSDP) in the PRMD register.
- 154 -