3.2 Servo Commands
3.2.10 Positioning Command (POSING: 35h)
3-38
Operation for Linear Acceleration/Deceleration
The following figure shows operation for linear acceleration/deceleration.
Operation for S-Curve Acceleration/Deceleration
The following figure shows operation for S-curve acceleration/deceleration.
1. If the TPOS, TSPD, ACCR, or DECR command is changed during positioning, the change will
be made when positioning is stopped or during constant-speed movement.
2. If the acceleration/deceleration time is too long, linear acceleration/deceleration will be used.
Linear acceleration/deceleration will be used when the rate of acceleration/deceleration meets
the following condition for the target speed (TSPD).
Acceleration/deceleration rate [ref/s
2
] < 700 × √(TSPD)
3. Set the S-curve acceleration/deceleration ratio (S_RATIO) in Pn846 (S-Curve Acceleration/
Deceleration Ratio).
S
peed
Time
P1
(Target po
s
ition)
Po
s
itioning
s
peed
Tacc
Tdec
Taj
Taj
Tdj
Tdj
Acceleration time: Tacc = T
S
PD/ACCR
S
-curve acceleration time: Taj =
S
_RATIO × Tacc
Deceleration time: Tdec = T
S
PD/DECR
S
-curve deceleration time: Taj =
S
_RATIO × Tdec
DECR
ACCR
T
S
PD
Time
S
peed
Important
Parameter
Name
Data Size
(Bytes)
Setting
Range
Setting Unit
Default
Setting
Pn846
S-Curve
Acceleration/
Deceleration
Ratio
2
0 to 50
%
0
