NOVA electronics Inc.
MCX514 -
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29
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Partial S-curve Acceleration / Deceleration
In acceleration / deceleration driving with a linear section of acceleration and deceleration, it is possible to form a smooth S-curve
only in the start/end part of acceleration or deceleration. To set the speed parameter for acceleration and deceleration, specify not
the maximum value but the value of acceleration and deceleration in a linear section of acceleration/deceleration.
As shown in Fig. 2.2-12, section b,f indicate a linear section of acceleration/deceleration and section a,c,e,g indicate S-curve
section of acceleration/deceleration.
At section a, the acceleration increases on a straight line from 0 to the acceleration setting value and the speed curve forms a
secondary parabolic curve. When the acceleration reaches the acceleration setting value, the acceleration keeps that value and the
speed curve forms a straight line in the acceleration of section b. If the difference between a specified drive speed and the current
speed becomes less than the speed that was utilized at acceleration increasing, the acceleration starts to decrease at a specified jerk
and the speed curve forms a parabola of reverse direction at section c. Also in deceleration, it forms a partial S-curve of
deceleration.
Specified Value
a
b
c
e
f
g
d
time
time
Speed
Acceleration
/ Deceleration
Initial Speed
Drive Speed
Acceleration
Deceleration
Acceleration increasing rate (slope)
Fig. 2.2-12 Partial S-curve Acceleration / Deceleration Driving
