User's Manual

HARSFEN0602
0 0.01 0.02 0.03 0.04 0.05 0.06
0
1000
2000
0 0.01 0.02 0.03 0.04 0.05 0.06
0
50
100
Speed
Acceleration
(AC)
Constant speed
(SP)
Deceleration
(DC)
Position
With shorter movement, the deceleration begins before the limit speed is reached, so that the SP speed limit
is not effective. This situation is depicted in the figure below:
0 0.01 0.02 0.03 0.04 0.05 0.06
-500
0
500
1000
0 0.01 0.02 0.03 0.04 0.05 0.06
0
5
10
AC
DC
Time (sec)
Time (sec)
Speed
Position
12.1.4.3 More Complicated PTP Motions
PTP motions may be initiated any time, using the PA command, not necessarily from a stationary state.
The PTP decisions, made every position control cycle, are given in the flow chart below.