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11-2 Trapezoidal Acceleration/ Deceleration
An internal calculation process is used to create a trapezoidal figure from speed,
acceleration, and deceleration settings.
Speed
When accelerating or decelerating between two speeds, the speed is varied ev-
ery unit time in a stepwise fashion.
Example:
Start speed
Maximum value of speed data Nos. 1 to 15
Acceleration
Deceleration
∆V2 = 100 x 4 = 400
Internal processing is performed every 4 ms, so V2 (speed) is increased 400 pps
at a time.
V2 (Speed)
pps
40000
39600
39200
38800
20400
20000
19600
19200
1600
1200
800
400
∆V2
8
4
Note Pulse outputs are given priority, so there may be some slight variations in accel-
eration and deceleration times.
For example, if ∆V2 is less than 250 pps in the above graph, the acceleration/de-
celeration time will become larger than 4 ms because the pulse output per inter-
nal calculation process (for every 4 ms) will become less than 1.
192
200
392 400
12
196
204
388 396
Section
Time
0 (pps)
40,000 (pps)
100 (pps/1ms)
100 (pps/1ms)
4 ms
R = 400= 100
400
4
R: Acceleration data
Deceleration data
t (Time)
ms
11-2
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