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ICPDAS
I-8092F Software User Manual
94
A.3 Profile Acceleration/Deceleration Planning
According to the motion control, we should used acceleration / deceleration planning for
improving the capability of path planning and reducing the position error. The speed driving profile
in I-8092F can be configured as T-curve and S-curve acceleration / deceleration.
A.3.1 Trapezoidal Driving [Symmetric]
T-curve Description
The linear acceleration / deceleration driving is also called the trapezoidal driving. About the
correlation parameters are: total displacement S, start speed SV, driving speed V, acceleration A.
By above the parameters we can plan the trapezoidal driving:
Acceleration equation:
TA
A
SV
V
×
+
=
(1-1)
The time for the end of constant speed:
V
S
TM
=
(1-2)
The time for the start of constant speed:
TA
SV
V
A
−
=
(1-3)
The T-Curve acceleration / deceleration planning are shown in Fig. A-14.
Fig. A -14 Symmetric T-curve acc./dec. planning
Trapezoidal driving is starting from the initial speed to the designated drive speed. The
accelerating pulses will be counted, and the deceleration (automatic deceleration) starts from the