Panasonic MINAS A6 Series, Technical Reference

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4.3Velocity control
4-15
4.3.3 Velocity command acceleration/deceleration setting function
This function controls the velocity by adding acceleration or deceleration command in the driver to the
input velocity command.
Using this function, you can use the soft start when inputting stepwise velocity command or when using
internal velocity setup. You can also use S shaped acceleration/deceleration function to minimize shock
due to change in velocity.

Relevant parameters
Class No. Attribute Title Range Unit Function
3 12 B Acceleration time
setup 0 to
10000 ms/
(1000 r/min) Set up acceleration processing time in response to the
velocity command input.
3 13 B Deceleration time
setup 0 to
10000 ms/
(1000 r/min) Set up deceleration processing time in response to the
velocity command input.
3 14 B Sigmoid
acceleration/deceler
ation time setup 0 to 1000 ms Set S-curve time for acceleration/deceleration process
when the velocity command is applied.

When the position loop is external to the driver module, do not use the
acceleration/deceleration time setting. Set these values to 0.
Pr 3.12 “Acceleration time setup”
Pr 3.13 “Deceleration time setup”
Set the time, elapsing before the velocity command (stepwise input) reaches 1000 r/min after a
stepwise velocity command is input, to Pr 3.12 "Acceleration time setup". Also set the time, elapsing
before the velocity command reaches 0 r/min from 1000 r/min, to Pr 3.13 "Deceleration time setup".
Assuming that the target value of the velocity command is Vc (r/min), the time required for
acceleration/deceleration can be computed from the formula shown below.
-
Acceleration time (ms) = Vc/1000 x Pr 3.12 x 1 ms
-
Deceleration time (ms) = Vc/1000 x Pr 3.13 x 1 ms