Beijing ART Tech PCI1040, Руководство пользователя

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PCI1040 Motion Control Card
3.2 Acceleration and Deceleration
Basically, driving pulses of each axis are output by a fixed driving command or a continuous pulse driving
command of the +direction or –direction. These types of driving can be performed with a speed curve constant
speed, linear acceleration, non-symmetrical linear acceleration, S-shaped acceleration/deceleration, or
non-symmetrical S-shaped acceleration/deceleration according to the mode that is set or operation parameter
value.
3.2.1 Constant Speed Driving
When the drive speed set in PCI1040 is lower than the initial speed (or a speed higher than the drive speed is set
as the initial speed), the acceleration/decoration will not be performed, instead, a constant speed driving starts.
If the user wants to perform the sudden stop when the home sensor or encoder Z-phase signal is active, it is
better not to perform the acceleration/deceleration driving, but the low-speed constant driving from the
beginning.
3.2.2 S-shaped Acceleration/Deceleration Driving
PCI1040 creates an S curve by increasing/reducing acceleration/deceleration in a primary line at acceleration
and deceleration of drive speed.
Fig.2.5 shows the operation of S-shaped acceleration/deceleration driving where the acceleration and the
deceleration are symmetrical. When driving starts, the acceleration increases on a straight line at the specified
jerk (K). In this case, the speed data forms a secondary parabolic curve (section a). If the difference between the
specified drive speed (V) and the current speed becomes less than the speed that was utilized at the increase of
acceleration, the acceleration starts to decrease towards 0. The decrease ratio is the same as the increase ratio
and the acceleration decreases in a linear form of the specified jerk (K). In this case, the rate curve forms a
parabola of reverse direction (section b).
The speed reaches the specified drive speed (V) or the acceleration reaches 0, the speed is maintained (section c).
In fixed pulse driving of S-shaped acceleration/deceleration where acceleration and deceleration are symmetrical,
deceleration starts when the number of remaining output pulses becomes less than the number of pulses that
were utilized. At the deceleration also, the speed forms an S curve by increasing/decreasing the deceleration in a
primary linear form (section d and e). The same operation is performed in acceleration/deceleration where the
drive speed is changed during continuous pulse driving.
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