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8-5. S-curve Acceleration/Deceleration Drive
S-curve acceleration/deceleration drive is implemented according to the S-curve acceleration curve and
S-curve deceleration curve obtained by approximating the four speed areas (acceleration start,
acceleration end, deceleration start, deceleration end) to parabolic curves.
Between acceleration areas and between deceleration areas, it performs acceleration or deceleration
according to the acceleration curve or deceleration curve that has been approximated by a linear curve.
Setting different values in the acceleration and deceleration curve parameters causes asynchronous
S-curve acceleration/deceleration drive.
Execution sequence of S-curve acceleration/deceleration drive
■
① Set the parameters required for S-curve acceleration/deceleration drive.
Set drive
・ SLSPD
: Pulse speed at the beginning of acceleration and end of deceleration
function
Pulse speed at maximum speed
・ SHSPD
:
parameters
Acceleration time constant between SCAWEA1 and SCAWEA2
・ SCWATE
:
Deceleration time constant between SCAWEA3 and SCAWEA4
・ SDWATE
:
Speed area of S-acceleration curve from acceleration start to SCWATE start
・ SCAWEA1
:
Speed area of S-acceleration curve from SCWATE end to acceleration end
・ SCAWEA2
:
Speed area of S-acceleration curve from deceleration start to SDWATE start
・ SCAWEA3
:
Speed area of S-acceleration curve from SDWATE end to deceleration end
・ SCAWEA4
:
of deceleration
② Set the parameters required for S-curve acceleration/deceleration EWD PCLSE
Set EWD PCLSE
drive.
drive
Wumber of pulses for EWD PCLSE drive
・ SEWD PCLSE
:
parameters
Pulse speed of EWD PCLSE drive
・ SESPD
:
DELAY TIME till EWD PCLSE drive starts after the end of
・ SESPD DELAY TIME
:
deceleration
③ Execute drive.
Execute drive
Do this operation when the initial value or the parameter value
that has been set needs to be changed.
SWATE SCAW drive and SWATE IWDEX drive
■
The following drive parameters need to be set for S-curve acceleration/deceleration SWATE SCAW/IWDEX drive:
・ SLSPD
: Pulse speed at the beginning of acceleration and end of deceleration
・ SHSPD
: Pulse speed at maximum speed
・ SCWATE
: Acceleration time constant between SCAWEA1 and SCAWEA2 (acceleration curve parameter)
・ SDWATE
: Deceleration time constant between SCAWEA3 and SCAWEA4 (deceleration curve parameter)
・ SCAWEA1
: Speed area of S-acceleration curve from the start of acceleration to the start of SCWATE
The S-acceleration curve from the start of acceleration is automatically decided by
setting SCWATE and SCAWEA1.
・ SCAWEA2
: Speed area of S-acceleration curve from the end of SCWATE to the end of acceleration
The S-acceleration curve to the end of acceleration is automatically decided by setting
SCWATE and SCAWEA2.
・ SCAWEA3
: Speed area of S-acceleration curve from the start of deceleration to the start of SDWATE
The S-deceleration curve from the start of deceleration is automatically decided by
setting SDWATE and SCAWEA3.
・ SCAWEA4
: Speed area of S-acceleration curve from the end of SDWATE to the end of deceleration
The S-deceleration curve to the end of deceleration is automatically decided by setting
SDWATE and SCAWEA4.
S-curve acceleration/deceleration EWD PCLSE drive
■
Inserting EWD PCLSE immediately before the end of drive has the effect of suppressing vibration at
cessation of the motor.
The EWD PCLSE drive includes the number of EWD PCLSEs in the positioning quantity and operates in
consideration of backlash.
The following drive parameters need to be set for the S-curve acceleration/deceleration EWD PCLSE drive.
・ SEWD PCLSE
: Wumber of EWD PCLSE drive pulses
・ SESPD
: Pulse speed of EWD PCLSE drive
・ SESPD DELAY TIME
: DELAY TIME till EWD PCLSE drive starts after the end of deceleration