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4 PARAMETERS FOR POSITIONING CONTROL
The maximum acceleration and advanced S-curve acceleration time/
deceleration time are calculated by parameters.
AT
AAT
A1T A2T
DT
ADT
D1T D2T
AmaxA
A1R
A2R
S.R.
DmaxA
(Note): Above is base on pattern 1.
Time Time
Time
S.R.
D2R
D1R
Speed Speed
Trapezoidal acceleration/deceleration
Trapezoidal acceleration/deceleration
Trapezoidal acceleration
/deceleration
Trapezoidal acceleration
/deceleration
Maximum
acceleration
section
Maximum
negative
acceleration
section
Acceleration Acceleration
Time
Fig.4.6 Maximum acceleration, advanced S-curve acceleration time/deceleration time
Item
Abbre-
viation
Description Calculation expression
Operation
Acceleration
Deceleration
Rapid stop
Maximum acceleration AmaxA
• Maximum acceleration
• Same acceleration as trapezoidal acceleration/deceleration
S.R.
AT
— —
Maximum negative
acceleration
DmaxA
• Maximum negative acceleration at (rapid stop) deceleration
• Same negative acceleration as trapezoidal acceleration/
deceleration
S.R.
DT —
—
Maximum negative
acceleration at rapid stop
EmaxA S.R.
ET — —
Advanced S-curve
acceleration time
(Note-1)
AAT
• Time to reach the speed limit value (S.R.) after positioning
start. (At advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/
deceleration by using A1R or A2R.
AT
(100.0 + A1R + A2R) 100.0
— —
Advanced S-curve
deceleration time
(Note-1)
ADT
• Time to stop from the speed limit value (S.R.) at (rapid stop)
deceleration. (Advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/
deceleration by using D1R or D2R.
DT
(100.0 + D1R + D2R) 100.0 —
—
Advanced S-curve rapid
stop deceleration time
(Note-1)
AET ET
(100.0 + D1R + D2R) 100.0 — —
Time of acceleration
section 1
A1T • Time to reach acceleration peak from zero acceleration. AT
(A1R 100.0) 2
— —
Time of acceleration
section 2
A2T • Time to reach zero acceleration from acceleration peak. AT
(A2R 100.0) 2
— —
Time of deceleration
section 1
D1T
• Time to reach negative acceleration peak from zero
acceleration.
DT
(D1R 100.0) 2 —
—
Time of deceleration
section 2
D2T
• Time to reach zero acceleration from negative acceleration
peak.
DT
(D2R 100.0) 2 —
—
Velocity when
"AAT=A1T+A2T"
Vacc
• The velocity when total acceleration is only "A1T+A2T".
(No maximum acceleration section)
S.R.
(A1R + A2R) 100.0
— —
Velocity when
"ADT=D1T+D2T"
Vdac
• The velocity when total acceleration is only "D1T+D2T".
(No maximum deceleration section)
S.R.
(D1R + D2R) 100.0 —
—
(Note-1): The actual acceleration time, actual deceleration time and actual rapid stop deceleration time are shortened when the positioning speed is less than the
speed limit value.
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