ICPDAS
I-8092F Software User Manual
96
A.3.2 Trapezoidal Driving [Asymmetric]
When an object is to be moved using stacking equipment, the acceleration and the deceleration
of vertical transfer need to be changed since gravity acceleration is applied to the object. I-8092F
performs automatic deceleration in fixed pulse driving in the non-symmetric linear acceleration
where the acceleration where the acceleration and the deceleration are different. It is not
necessary to set a manual deceleration point by calculation in advance. Fig. A-15 shows the case
where the deceleration is greater than the acceleration and Fig. A-16 shows the case where the
acceleration is greater than the deceleration. In such asymmetric linear acceleration also, the
deceleration start point is calculated within the IC based on the number of output pulse P and
each rate parameter.
Fig. A-15 Asymmetric T-curve acc./dec. driving (A<D)
Fig. A-16 Asymmetric T-curve acc./dec. driving (A>D)
