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An internal calculation process is used to create a trapezoidal figure from
speed, acceleration, and deceleration settings.
Speed
Time
When accelerating or decelerating between two speeds, the speed is varied
in a stepwise fashion. To achieve this, acceleration and deceleration tables
are created internally when the Unit is first operated or when TRANSFER
DATA is used to alter data.
The internal processing of the Position Control Unit is as follows during table
creation.
1, 2, 3...
1. The speed difference, ∆V, is obtained to express the range of speed set-
tings.
∆V = MAX – MIN
where,
MAX: Twice the maximum set value (not to exceed 250,000).
MIN: Speed indicated by initial speed number.
2. The number of division steps, L, is determined such that the unit time for
each step is 4 ms. The maximum number of steps is 250.
L = (∆V/R)
where,
r: Acceleration or deceleration data, whichever smaller
R: Acceleration or deceleration data, whichever greater.
∆V/R: Acceleration (or deceleration) time between MAX and MIN
4
T = (∆V/r)
L
At this time, the time for one step of the smaller of the acceleration
or deceleration data is obtained as follows:
3. Next, the speed difference (∆υ) for each step is obtained.
∆υ
= (∆V/L)
Trapezoidal
Acceleration/Deceleration
Table Creation
DM Area Allocation Section 3–7
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