Sharp X-70H Manuale Utente Scaricare il pdf (Pagina 208)

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Time lag in sinusoidal acceleration/deceleration

When the sinusoidal acceleration/deceleration speed is set, pay attention as a time lag

such as that shown below occurs.

Where,

Ts=Tacc*S/100

Ts: Sinusoidal lag time (lag time near center of acceleration of lines 1 and 2 in the

figure below)

Tacc: Acceleration time

S: Acceleration/deceleration curve (0 to 99%) of parameter 1

Appendix 1 Setting the sinusoidal acceleration/deceleration speed

Set the acceleration/deceleration curve in sinusoidal drive to parameter 1 address A+0074.

(1) Ramp drive: setting value 00

Ramp drive is as follows in point-to-point control.

Appendix

(2) Sinusoidal drive: setting value 01 to 99

Sinusoidal drive, normally, is used for smoothing movement of externally connected

machines. As shown below, the larger the numerical value set, the smoother (rounder)

the curves of angles of the ramp become. The radius of these curves change according to

the target speed, acceleration/deceleration time and other factors. Determine the

optimum values while actually changing values and monitoring operation as the curve

changes according to the device to be used and adjustment of servo gain.

Ts Ts

200

150

100

Line 1: Initially created ramp pattern

Line 2: Motor drive pattern

1 2 ... 203 204 205 206 207 208 209 210 211 212 213 ... 234 235

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Sharp X-70H Manuale Utente Pagina 208