NSK EDD Megatorque Motor - Examples of Acceleration Profiling and Individual Setting of Acceleration and Deceleration

8. More Advanced Function
— 8-33 —
8.6.2. Examples of Acceleration Profiling and Individual Setting of Acceleration and
Deceleration
 Let’s set acceleration and deceleration individually to the positioning command as shown in the figure
below.
 The duration of constant velocity may be added depending on the total rotation angle.
Fig 8-14: Example of acceleration profiling and setting of acceleration/deceleration
Acceleration
α
Velocity V
MB1
MA2
CSA5
CSB4
1) Specify an acceleration profile. For example, set the half sine profile for acceleration and the
cycloid pattern for deceleration.
:CSA5
:CSB4
:_
S
C
ENT
5
$
S
4
%
C
ENT
A
B
 The profile of deceleration will be the half sine as same as that of acceleration when the
parameter CSB is set to CB0.
2) Set the acceleration and deceleration. Set the acceleration to 2 [s
-2
] and the deceleration to 1 [s
-
2
]. (At the first setting, set a gentler acceleration and deceleration than usual setting.)
:MA2
:MB1
:_
A
M
ENT
2
$
B
1
#
M
ENT
 The deceleration will be 2 [s
-2
] as same as the acceleration when the parameter MB is set to
MB0.