
-86-
10-2.
Speed
pattern
settings
Specify
the
speed
pattern
using
the
registers
(pre-registers)
shown
in
the
table
below.
If
the
next
register
setting
is
the
same
as
the
current
value,
there
is
no
need
to
write
to
the
register
again.
Pre-register
Description
Bit
length
setting
range
Setting
range
register
PRMV
Positioning
amount
28
-134,217,728
to
134,217,727
(8000000h)
(7FFFFFFh)
1
to
65,535
(0FFFFh)
1
to
65,535
(0FFFFh)
1
to
65,535
(0FFFFh)
0
to
65,535
(0FFFFh)
2
to
4,095
(0FFFh)
0
to
16,777,215
(0FFFFFFh)
0
to
32,767
(7FFFh)
0
to
32,767
(7FFFh)
RMV
PRFL
PRFH
PRUR
PRDR
PRMG
PRDP
PRUS
PRDS
Initial
speed
Operation
speed
Acceleration
rate
Deceleration
rate
Note
1
Speed
magnification
rate
Ramping-down
point
S-curve
acceleration
range
S-curve
deceleration
range
16
16
16
16
12
24
15
15
RFL
RFH
RUR
RDR
RMG
RDP
RUS
RDS
Note
1:
If
PRDR
is
set
to
zero,
the
deceleration
rate
will
be
the
value
set
in
the
RUR.
[Relative
position
of
each
register
setting
for
acceleration
and
deceleration
factors]
PRFL:
FL
speed
setting
register
(16-bit)
Specify
the
speed
for
FL
low
speed
operations
and
the
start
speed
for
high
speed
operations
(acceleration/deceleration
operations)
in
the
range
of
1
to
65,535
(0FFFFh).
The
speed
will
be
calculated
from
the
value
in
PRMG.
Reference
clock
frequency
[Hz]
FL
speed
[pps]
=
PRFL
x
(RMG
+
1)
x
65536
PRFH:
FH
speed
setting
register
(16-bit)
Specify
the
speed
for
FH
low
speed
operations
and
the
start
speed
for
high
speed
operations
(acceleration/deceleration
operations)
in
the
range
of
1
to
65,535
(0FFFFh).
When
used
for
high
speed
operations
(acceleration/deceleration
operations),
specify
a
value
larger
than
PRFL.
The
speed
will
be
calculated
from
the
value
placed
in
RMG.
Reference
clock
frequency
[Hz]
FH
speed
[pps]
=
PRFH
x
(RMG
+
1)
x
65536