NOVA electronics Inc.
MCX514 -
28
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28
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Example of Parameter Setting (Symmetry S-Curve Acceleration / Deceleration)
The figure shown below is the example of S-curve acceleration that reaches from the initial speed 100pps to the drive speed
40kpps in 0.4 seconds.
SV
DV
t
2
t = 0.4sec
JK(slope)
2
DV-SV
2
DV-SV
2
DV-SV
time
time
Speed
Acceleration
Fig. 2.2-11 Example of Symmetry S-Curve Acceleration / Deceleration Driving
At acceleration, acceleration is increased on a straight line based on a specified jerk (JK). The integral value (area indicated by
diagonal lines) is the increased value of the speed from the initial speed “SV”.
Find the jerk (JK) to produce the result where the speed reaches a half ((DV-SV)/2) of the drive speed (DV) from the initial speed
(SV) within a half (5/2) of the acceleration time (t=0.4sec). Use the following expression to find a value of “JK” since the area
indicated by diagonal lines which uses “JK” in the left-hand member, is equal to the right-hand member.
2
SV
DV
2
t
JK
2
1
2
−
=
×
×
2
t
SV)
4(DV
JK
−
=
997,500
0.4
100)
4(40000
JK
2
=
−
=
pps/sec
2
Therefore, the parameters for S-curve acceleration / deceleration driving with the acceleration as shown in Fig. 2.2-11 are as
follows.
Mode Setting
WR3 ← 0004h
Mode setting of WR3 register
Jerk
JK = 997500
Acceleration
AC = 536870911
Set the maximum value
：
(1FFF FFFFh)
Initial speed
SV = 100
Drive speed
DV = 40000
Drive pulse number
TP = 27500
Set when fixed pulse driving is performed.
Jerk
JK [pps/sec
2
]
Drive speed
DV [pps]
Initial speed
SV [pps]
Acceleration time t [sec]
