FP∑ Positioning Unit Confirming the Unit Settings and Design Contents
4-11
4.4 Selection of Acceleration / Deceleration Method
4.4.1 Linear and S Acceleration/Decelerations
The FP∑positioning unit has two methods of acceleration and deceleration which can be selected:
Linear acceleration/deceleration and S acceleration/deceleration. With linear acceleration/deceleration,
acceleration and deceleration (the acceleration from the starting speed to the target speed) are carried
out in a straight line. (acceleration and deceleration take place at a constant percentage.)
S acceleration/deceleration is carried out along an S - shaped curve. When acceleration or deceleration
is first begun, the speed is relatively slow, and gradually increases.
When the acceleration or deceleration has been almost completed, the speed slows once again. This
results in comparatively smooth movement. Sin curve, Secondary curve, Cycloid curve and Third curve
are available for S acceleration/deceleration. The acceleration/deceleration will be completed for the time
set in the shared memory.
4.4.2 S Acceleration/Deceleration Pattern
S acceleration/deceleration curve grade: Third curve > Cycloyd curve > Secondary curve > Sin curve
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