NSK Megatorque PS Series - Examples of Acceleration Profiling and Individual Setting of Acceleration and Deceleration

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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.
:
C
S
A5
:
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.