86
Chapter 6. Function Description (FUN)
rpm
St
D
_
2
rpm
St
D
_
1
rpm
D
time
St
_
1
time
L
_
time
St
_
2
l
Programming example of S curve pattern
l
Basic equation
St1_time = AccTime * (FUN_36 / 50.0%)
St2_time = AccTime * (FUN_37 / 50.0%)
St1_
Δ
rpm = St1_time * (MaxSpeed / AccTime) * 0.5
St2_
Δ
rpm = St2_time * (MaxSpeed / AccTime) * 0.5
l
Calculation 1
Δ
rpm
≥
St1_
Δ
rpm + St2_
Δ
rpm
D
rpm = The difference between the current speed and the target speed
L_time = (
Δ
rpm – St1_
Δ
rpm – St2_
Δ
rpm) * (AccTime / MaxSpeed)
Effective Acceleration Time =
St St2_time
l
Calculation 2
Δ
rpm
<
St1_
Δ
rpm + St2_
Δ
rpm
St1’_time =
√
{ [
Δ
rpm * AccTime
2
* St1_time
2
] / [ 25 * MaxSpeed * (St St2_time) ] }
St2’_time =
√
{ [
Δ
rpm * AccTime
2
* St2_time
2
] / [ 25 * MaxSpeed * (St St2_time) ] }
Effective Acceleration Time =
St1’_time + St2’_time
Acceleration
Speed