User Manual
Chapter 7
GFK-1742F
Jan 2020
Programmed Motion
209
The distance traveled during acceleration or deceleration is calculated using the formula:
(For 240 seconds is needed to reach a velocity of 24,000, a velocity of 12,000 can be reached
in 120 seconds.) The initial CMOVE and the final PMOVE both use this distance. A second
CMOVE “takes over” at the midpoint of the acceleration slope from the first CMOVE and
accelerates to the target velocity of 24,000. A third CMOVE is required for dividing up the
decel
eration portion of the profile. The final move, a PMOVE, “takes over” from the third
CMOVE at the deceleration midpoint distance (720,000 user units from the final position).
The third CMOVE, as it approaches its final position, will automatically decelerate to the
PMOVE’s velocity of 12,000. The dashed lines in the Example 2 drawing separate the four
moves. To calculate the distances of the second and third CMOVEs, subtract the distances
calculated for the first CMOVE and final PMOVE (720,000 each for a total of 1,440,000) from
the final distance of 8,000,000. This gives a remaining distance of 6,560,000, which is
divided equally between the second and third CMOVES (3,280,000 each).
Figure 87: Maximum Acceleration Time Example 2