IAI America PDR-101-MW User Manual
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(14) Acceleration Command Value at Homing
Name Symbol Unit Input
range
Default value
(reference)
Acceleration command
value at homing
OACC pulse/sec
2
1000~19267584 [A]
Set the acceleration at homing.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
Calculation formula of the setting value (pulse/sec
2
) of acceleration (mm/sec
2
)
The setting value of the acceleration is converted from mm/sec
2
to pulse/sec
2
using the following formulae:
In the case of linear axis:
(mm/rev)
length
lead
screw
Ball
)
(pulse/rev
pulses
encoder
of
Number
x
)
mm/sec
(
on
Accelerati
)
(pulse/sec
value
Setting
2
2
=
In the case of rotational axis:
rate
reduction
gear
axis
Rotational
x
(deg/rev)
360
)
(pulse/rev
pulses
encoder
of
Number
x
)
mm/deg
(
on
Accelerati
)
pulse/sec
(
value
Setting
2
2
=
z
The setting value of this item indicates pulses of the encoder, and is independent of the electronic
gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”
(15) Offset Amount at Homing
Name Symbol Unit Input
range
Default value
(reference)
Offset amount at homing
OFST
pulse
1~134217727
[A]
Set the amount of movement from the position at which phase Z is detected after reversing at the
mechanical end in a push operation, for the homing operation.
An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.
Caution