
-
150
-
PRUR:
Acceleration
rate
setting
register
(16-bit)
Specify
the
acceleration
characteristic
for
high
speed
operations
(acceleration/deceleration
operations),
in
the
range
of
1
to
65,535
(0FFFFh)
Relationship
between
the
value
entered
and
the
acceleration
time
will
be
as
follows:
1)
Linear
acceleration
(MSMD
=
0
in
the
PRMD
register)
(PRFH
-
PRFL)
x
(PRUR
+
1)
x
4
Reference
clock
frequency
[Hz]
Acceleration
time
[s]
=
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
PRDR
register
will
be
used
as
the
deceleration
rate.
However,
when
PRDR
=
0,
the
deceleration
rate
will
be
the
value
placed
in
the
PRUR.
When
the
ramping-down
point
is
set
automatically,
the
following
limitations
are
applied.
-
While
in
the
Linear
interpolation
1
or
circular
interpolation,
and
when
the
synthetic
speed
constant
control
function
is
applied
(MIPF
=
1
in
the
PRMD),
arrange
that
(deceleration
time)
=
(acceleration).
-
For
other
cases,
arrange
that
(deceleration
time)
>
(acceleration
time
x
2)
Setting
exceeding
the
above
limitations
may
not
decrease
the
speed
to
the
specified
FL
speed
when
stopping.
In
this
case,
use
a
manual
ramping-down
point
(MSDP
=
1
in
the
PRMD
register).
The
relationship
between
the
value
entered
and
the
deceleration
time
is
as
follows.
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