5 Parameter Settings
5.3.4 Speed, Acceleration, and Deceleration
5-34
5
j
Asymmetric S
-
curve Acceleration/Deceleration with Constant
Acceleration/Deceleration
With asymmetric S-curve acceleration/deceleration, the S-curve acceleration/deceleration
described in
i
, is used, but separate rates can be set for acceleration and deceleration.
First, the rates of acceleration/deceleration are determined by the Maximum Speed set in
parameter Pn843, the Acceleration Time set in parameter Pn822, and the Deceleration Time
set in parameter Pn823 just as in the asymmetric linear acceleration/deceleration pattern
described in
e
. Then, a filter is applied when starting and stopping and positioning com-
pleted point, as well as before and after reaching the Speed set in parameter Pn821, to round
the corners of the acceleration/deceleration. The time the corners are rounded is determined
by the Time Constant of Moving Average set in parameter Pn842.
The time T required to reach the Speed set in Pn821 in the positioning operation can be cal-
culated using the following formula.
T [ms] = Pn842 + Pn822
×
(Pn821/Pn843)
If this acceleration/deceleration pattern is used, the rate of acceleration/deceleration will
remain constant even if the Speed set in Pn821 is changed.
Fig. 5.8 Asymmetric S
-
curve Acceleration/Deceleration with Constant Acceleration/
Deceleration
Table 5.15 Related Parameters
Object
Attribute
No.
Name
0x64
56
Pn826
Acceleration/Deceleration Type (=3)
58
Pn829
Filter Selection (=3)
51
Pn821
Speed [
×
1,000 steps/min]
52
Pn822
Acceleration Time [ms]
53
Pn823
Deceleration Time [ms]
72
Pn842
Time Constant of Moving Average [ms]
73
Pn843
Maximum Speed [
×
1,000 steps/min]
Time
Pn821
Pn842
Pn822
Pn842
Pn842
Pn823
Pn842
Pn843
Speed
Summary of Contents for OMNUC W R88A-NCW152-DRT
Page 1: ...Cat No I538 E3 1 DeviceNet Option Unit OMNUC W Series Model R88A NCW152 DRT...
Page 53: ...4 Connectors 4 5 3 DeviceNet Network Configuration Restrictions 4 22 4...
Page 97: ...5 Parameter Settings 5 3 8 Notch Signal Output Positioning 5 44 5...
Page 211: ...8 Servo Driver Settings 8 5 3 Absolute Encoder Multi turn Limit Setting 8 24 8...
Page 257: ...9 Troubleshooting 9 46 9...