Installation manual

Chapter 3. CONTROL MODE
３－12
３．５ Velocity Control
When a manipulator plus a machine operator perform, if, command value is given
intermittently, it causes undesirable mechanical oscillation. For this reason, the
command speed at the start has to be controlled, to gradually accelerate and at stop to
gradually decelerate.
On manipulator trajectory, velocity is generally controlled to make a trapezoid wave.
With this trapezoid wave, the acceleration wave becomes non continuous. It causes
acceleration shock and mechanical oscillation. In PA10, to create a target trajectory to
reduce acceleration shock, interpolation methods are employed to create the letter “S”
shaped target trajectory for velocity.
This satisfies conditions to keep each curve continuity and hold the maximum velocity,
lower. The most reliable curve, even if used in a situation when the load characteristic
is unpredictable, the maximum velocity is lowered
These options below are available for a velocity control type.
０：Uniform velocity
１：
with Acceleration
２：
with Deceleration
３：
with Acceleration and Deceleration
For position change, the trapezoid control is available. Not available for velocity
change. When in a continuous movement as:(ex)p1→p2 is v1[mm/s], p2→p3 is
v2[mm/s], velocity command is intermittently changed at p2 point. In this case,
velocity command intermittent change has to be lowered and controlled at the
servo driver side.
Start (Acceleration)
Start (deceleration)
Uniform Velocity
A
ccelelation :
V
elocity:ｖ
A
ngle:θ
A
ngle
Interpolation
Target Angle: θ
Position
M
M
e
e
m
m
o
o