NOVA electronics Inc.
MCX514 –
A-2
－
A-2
－
A-2 Case of S-curve Acceleration/Deceleration Driving
(CLK = 16MHz)
Acceleration AC is fixed to 1FFF FFFFh.
◎
Calculation Formula of jerk JK when initial speed SV, drive speed DV and acceleration time ta are given
Jerk
2
a
t
)
SV
DV
(
4
JK
−
=
[pps/sec
2
]
◎
Calculation Formula of acceleration time ta when initial speed SV, drive speed DV and jerk JK are given
Acceleration time
JK
SV
DV
2
t
a
−
=
[sec]
◎
Calculation Formula of pulse number for acceleration Pa when initial speed SV, drive speed DV and jerk JK are
given
Pulse number for acceleration
JK
SV
DV
)
SV
DV
(
P
a
−
+
=
Deceleration increasing rate DJ, deceleration time td and pulse number for deceleration Pd can be calculated by replacing jerk JK,
acceleration time ta and pulse number for acceleration Pa with deceleration increasing rate DJ, deceleration time td and pulse
number for deceleration Pd respectively.
[Note]
•
The above calculation formula does not hold true in partial S-curve acceleration/deceleration driving.
•
The above calculation formula is an ideal expression and slight differences will be made in the actual IC operation.
DV
：
Drive speed[pps]
SV
：
Initial speed[pps]
JK
：
Jerk[pps/sec
2
]
ta
：
Acceleration time [sec]
Pa
：
Pulse number for acceleration
