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Commands that enable S-curve acceleration/deceleration EWD PCLSE drive
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CCMMAWD
CCMMAWD
name
name
DWIVE CCMMAWD
DWIVE CCMMAWD
CCDE
CCDE
H'0042
+SWATE SCAW
*1
H'0111
ABS SWATE STWAIWHT CP
H'0043
-SWATE SCAW
*1
H'0113
ABS SWATE STWAIWHT CCWST CP
H'0044
IWC SWATE IWDEX
H'0151
IWC SWATE STWAIWHT CP
H'0045
ABS SWATE IWDEX
H'0153
IWC SWATE STWAIWHT CCWST CP
*2
2-axis circular
interpolation drive
*1 : This command is enabled when EWD PCLSE STCP MCDE of the SPEC IWITIALIZE3 command is 1.
<Applied function>
*2 : For 2-axis circular interpolation drive, this command is enabled when CIWCCLAW CP MCDE of the
CP SPEC SET command is 0 (correction drive at the end point is not executed).
<Applied function>
S-curve acceleration/deceleration drive and EWD PCLSE drive
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Speed
Automatic deceleration
SHSPD
SCAWEA2
SCAWEA3
SCWATE acceleration
SDWATE deceleration curve
curve
SCAWEA1
SCAWEA4
SLSPD
SLSPD
SESPD
SEWD PCLSE
Time
Stop at the specified position
SESPD DELAY TIME
DWIVE DELAY TIME at reverse operation
IWDEX command
・ Specify the last stop position for the specified position (relative address or absolute address) of
the SWATE IWDEX command.
It ends acceleration/deceleration drive SEWD PCLSE before the
specified position and performs EWD PCLSE drive to the specified position.
・ The relative address is a signed value that represents the number of pulses from the start position
to the stop position assuming that the start position is the origin.
The absolute address is one
that is managed by the address counter.
・ If SEWD PCLSE is set to 0, S-curve acceleration/deceleration EWD PCLSE drive is not executed.
Cnly
acceleration/deceleration drive is executed.
Weverse operation of EWD PCLSE drive
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The operation of S-curve acceleration/deceleration EWD PCLSE drive is the same as linear
acceleration/deceleration EWD PCLSE drive.