12.3 Positioning
12.3.1 Acceleration/Deceleration Patterns
12-10
Asymmetric S-Curve Acceleration/Deceleration (Constant
Acceleration/Deceleration Rates)
With Asymmetric S-Curve Acceleration/Deceleration, the operation is the same as for symmet-
ric S-curve acceleration/deceleration except that the acceleration and deceleration rates can
be set separately.
First, the operation is the same as for asymmetric linear acceleration/deceleration in that the
acceleration and deceleration rates are created from PnB2A (Acceleration Rate) and PnB2B
(Deceleration Rate). With an S-curve pattern, however, the corners when starting and complet-
ing positioning and just before and after the feed speed set in PnB21 are rounded by using a fil-
ter. Set the time for rounding off the corners in PnB42 (Average Movement Time Filter Time
Constant).
The time T that is required during a positioning operation for the reference to reach the feed
speed in PnB21 is calculated as follows:
If this acceleration/deceleration pattern is used, the acceleration/deceleration rates will remain
constant even if the feed speed is changed.
T [ms] = PnB42 + ( )
×
1000
PnB2A
PnB21
Time
PnB21
PnB42
PnB2A
PnB42
PnB42
PnB2B
PnB42
Speed
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