num parameter manual - Documentation CN

6.16 Setting of the Maximum Permissible Acceleration P53
on the Axes
6 - 38 en-938818/7
Category Servo-control
Type 5 Unsigned decimal
No. of words 1
Description
The sin2 function consists of modulating the average acceleration for small speed variations so that the speed variation
is completed within a time greater than or equal to the minimum time declared in this parameter.
This time is expressed in ms and is common to all axis groups.
Principle
Determination of the average acceleration:
– Speed variation Dv greater than Dt*Gmax/2: Gaver = Gmax/2
– Speed variation Dv less than Dt*Gmax/2: Gaver = Dv/Dt
where Dv = speed variation
and Dt = minimum time.
When P53 is set to 0, function sin2 continues to be processed in the old way (Gaver = Gmax/2 regardless of the speed
variation).
Programme Parameter
Programme parameter E32006 is used to read and write the value of this time in ms.