195
Fig. 6-58 Schematic diagram of curve parameter
Note
1. The acceleration and deceleration of the S curve can be adjusted at your disposal.
2. In the acceleration section, the fast acceleration in start segment and end segment can be adjusted at your
disposal.
3. In the deceleration section, the fast deceleration in start segment and end segment can be adjusted at your
disposal.
The schematic diagram of adjusting the S curve is as shown in Fig. 6-59. The above figure is the
schematic diagram of adjusting the S curve in acceleration section. When the parameter increases, the
S curve will become steeper. When the parameter decreases, the S curve will become less steep. The
principles of adjusting the S curve parameter in deceleration section are the same as the acceleration
section. The calculation of the S curve time is the relationship of acceleration and time. Now the following
example illustrates the calculation relationship of S curve and t,
take
00.2010.11,50.1209.11,00.2508.11 === PPP
for example, calculate the time t accelerating to the set
frequency. As shown in Fig. 6-59, t is made up of three sections:
1
t
(Fast acceleration time of the S curve
in start segment) +
2
t
(Acceleration time of the S curve in the linear section) +
3
t
(Fast acceleration time
of the S curve in the end segment). The set running frequency is 50.00Hz,
s
P
P
t 2
09.11
08.11
1
==
, the cut-off
frequency of
1
t
running is 25.00Hz,
s
P
t 25.1
10.11
08.11
2
==
, and the initial frequency of
2
t
running is
34.40Hz (The time running from 34.4Hz to 50Hz is 1.25s),
s
P
t 624.0
08.11
40.3400.50
3
=
−
=
, therefore, the entire
increasing time t is 3.874s.
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