ICPDAS
I-8092F Software User Manual
102
When the fixed pulse trapezoidal driving is performed, and also when the deceleration is
performed before the acceleration stops, the triangle driving profile is coming out. The prevention
of triangle driving profile in S-curve acceleration / deceleration driving will be discussed as follows.
If the initial speed is 0, and if the rate of acceleration is
a
, then the speed at time
t
in acceleration
region can be described as following.
2
)
(
Kt
t
V
=
(1-14)
Therefore, the total output pulse number
p(t)
from time 0 to t is the integrated of speed.
3
3
1
)
(
)
(
Kt
dt
t
V
t
p
∫
=
=
(1-15)
The total output pulse is
3
3
4
)
3
/
1
1
3
/
2
1
3
/
2
3
/
1
(
at
at
=
×
+
+
+
+
+
(1-16)
From (1-15), (1-16), when the output pulse in acceleration of S-curve is more than 1/12 of total
output pulse; it will stop increasing acceleration and start to decrease the acceleration value.
Fig. A-21 The rule of 1/12 of parabolic acceleration/deceleration.
