Autonics AiCA Series, User Manual

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12 Driver Function
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12.1.2 Speed Curve
Drive pulse output of each axis operates by CW direction, CCW direction fixed pulse drive
instruction or continuous drive instruction. However, it can operates speed curve of fixed
speed, trapezoidal acceleration/deceleration, S-curve acceleration/deceleration by
operation mode setting or parameter.
12.1.2.1 Constant Speed Drive
Constant speed drive outputs pulse at a constant speed.
When the start drive speed and the max. drive speed are set as same value or the
acceleration or the deceleration time is set as 0, it operates constant speed drive without
acceleration/ deceleration.
This max. drive speed settings should be higher than or same as start drive speed.
12.1.2.2 Symmetric Trapezoidal Acceleration/Deceleration Drive
Trapezoidal acceleration/deceleration drive accelerates from initial speed to drive speed
trapezoidally with an inclination of the designated acceleration.
Set acceleration/deceleration time as msec at “Acceleration Time 1 to 5”, “Deceleration Time
1 to 5” parameter.
It counts the pulses consumed while accelerating to a specified drive speed, and starts
decelerating when the remaining output pulse becomes less than accelerating pulse.
This decelerating drive reduces speed to initial speed with specified acceleration.
In continuous pulse drive, it decelerates to initial speed when the stop signal is activated,
and stops immediately when it reaches initial speed.
 When speed override operates during constant speed drive, the set
acceleration/deceleration time is changeable.
 For continuous drive or jog drive by I/O, acceleration/deceleration time is set at
“Acceleration Time 1”, “Deceleration Time 1”.

When it arrives with not the max. drive speed at the target position due to long
acceleration time and short command position, acceleration time may be changed.