6 Before Starting Positioning Operation
6.8 Approximate S-shaped Acceleration/Deceleration Function
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FX3U-1PG User's Manual
1
Introduction
2
Specification
3
System
Configuration
4
Installation
5
Wiring
6
Before Starting
Positioning
Operation
7
Buffer Memory
8
Manual Control
9
Positioning
Control
10
Program
Example
3. Slope of the approximate S-shaped acceleration/deceleration
The following acceleration and deceleration are executed in the approximate S-shaped acceleration/
deceleration.
1) From the start of operation to 10% of the acceleration/deceleration time required to reach the operation
speed I
Acceleration/deceleration using the Sin curve.
2) From 10% to 90% of the acceleration/deceleration time required to reach the operation speed I
Linear acceleration/deceleration
The slope at this time is up to 1.2 times the slope of the trapezoidal acceleration/deceleration.
In order to set the same acceleration/deceleration as the trapezoidal acceleration/deceleration, it is
necessary to change the acceleration/deceleration time to 1.2 times the original value.
3) From 90% to the end of the acceleration/deceleration time required to reach the operation speed I
Acceleration/deceleration using the Sin curve.
*1. Acceleration time required to reach operation speed = Operation speed I ÷ Maximum speed ×
Acceleration/deceleration time
Caution when the approximate S-shaped acceleration/deceleration function is used
• The acceleration/deceleration time cannot be set individually. Acceleration/deceleration is executed at the
set value of the acceleration time.
• Set the acceleration/deceleration time within the range from 1 ms to 5000 ms.
• The operation speed change function and the target address change function cannot be used.
• If deceleration is executed before acceleration ends, the approximate S-shaped acceleration/deceleration
is executed at the deceleration start position. At this time, the times required for the acceleration and the
deceleration become same.
Speed
Time
Acceleration time required to
reach operation speed
*1
Acceleration/deceleration time
(Acceleration time)
Approximate S-shaped
acceleration/deceleration
Operation speed
Maximum speed
1) 0 to 10%
3) 90% to
100%
2)
Bias speed
Trapezoidal
acceleration/deceleration
Time
Operation speed
Bias speed
Speed
Maximum speed
Time required for acceleration = Time required for deceleration
Acceleration/deceleration time
(Acceleration time)
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