Parameter functions: It is used to set the acceleration/deceleration time of the motor when it is accelerated/decelerated by using a position command in the multi-segment position control mode. When a position command set by external pulses is used, these two parameters are invalid. P9-03: Set the acceleration time of the motor when it is accelerated in the multi-segment position mode. P9-04: Set the deceleration time of the motor when it is decelerated in the multi-segment position mode. A detailed description of parameters P9-06~P9-08 involved in the 1st segment of Pr1 is given below; the same applies to the other 15 segments, and will not be repeatedly elaborated. Parameter functions:
Set the target count of pulses for the 1 segment of position movement. The value of this parameter is preceded by a plus or minus symbol. The plus symbol indicates forward rotation of the motor according to P0-01, and the minus symbol indicates the reverse direction. Parameter functions: Set the constant rotating speed for the 1 segment of position movement. 171 Technical Manual for EA190 Series Servo Driver V100 Caution☞ 1.This can smooth the movement command and avoid abrupt change of a position command triggering vibration and abnormal noise of the mechanical structure.
2.P9-03 and P9-04 refer to the acceleration and deceleration time required for the motor speed to change from or to the rated motor speed.If the change to the target speed does not equal to the value of the rated motor speed, then the time required will change according to the ratio of the change and the rated motor speed. For example, if the target motor speed is 1,500rpm, the rated motor speed is 3,000rpm, P9-03 = 200ms and P9-04 = 300ms, then the motor requires 100ms to accelerate from speed 0 to speed 1,500rpm and 150ms to decelerate speed 1,500rpm to speed 0.
P9-06 Pulses of multi-segment position command Pr1 Initial value 100000 Communication address 0906H Unit Pulse Time of taking effect With immediate effect Setting range -2147483647~2147483647 Data size 32bit Control mode P Caution☞ The set count of pulses corresponds to a command pulse unit. P9-08 Moving speed of multi-segment position command Pr1 Initial value 100 Communication address 0908H Unit rpm Time of taking effect With immediate effect Setting range 1~6000 Data size 16bit Control mode P Caution☞ The motor may be unable to reach this speed during actual operation if there are less frequent pulses.
Therefore, this parameter shall be interpreted as the upper limit of the motor speed during execution of the Pr1 segment.