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4 PARAMETERS FOR POSITIONING CONTROL
4.3.3 Advanced S-curve acceleration/deceleration
Ver.!
Processing for smooth acceleration/deceleration can be executed by using the
advanced S-curve acceleration/deceleration function. The acceleration section is set as
a sine curve as shown in the diagram below.
Each section of acceleration/deceleration is set as a ration using the advanced S-curve
acceleration/deceleration setting.
Acceleration section 2
ratio (A2R)
Sine
curve
Speed
Time
Time
Sine curve
Trapezoidal acceleration
/deceleration
Acceleration time
(Trapezoidal
acceleration
/deceleration)
Deceleration time
(Trapezoidal
acceleration
/deceleration)
Speed limit value
Trapezoidal acceleration
/deceleration
Acceleration section 1
ratio (A1R)
Deceleration section 2
ratio (D2R)
Advanced
S-curve
acceleration/
deceleration
Deceleration section 1
ratio (D1R)
Section
C
Section
B
Section
A
Section
D
Section
E
Section
F
Section
G
Advanced S-curve
acceleration/
deceleration
Acceleration
Advanced S-curve
acceleration time
Advanced S-curve
deceleration time
Ver.!
: Refer to Section 1.3 for the software version that supports this function.
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