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The acceleration time is the time it takes to reach the maximum speed from a speed of the initial speed. The decel-
eration time is the time from the maximum speed to the initial speed. Accordingly, the time it takes to reach the
target speed, the time from the target speed to the initial speed, as well as the number of pulses for each of them,
can all be found by means of the formulas shown below.
Speed (pps)
V
M
V
H
V
L
0
V
:
Maximum speed setting
M
T
:
Acceleration time from initial speed (V
U
T
:
Deceleration time from target speed (V
D
T
:
Acceleration time setting
AU
T
:
Deceleration time setting
AD
Using the above abbreviations, the number of pulses for the acceleration and deceleration time can be calculated
as follows:
(V
– V
)
H
L
T
=
T
U
AU
(V
– V
)
M
L
(V
– V
)
H
L
T
=
T
D
AD
(V
– V
)
M
L
Acceleration pulses (P
U
Deceleration pulses (P
D
Appendix B
Estimating Times and Pulses for
Acceleration/Deceleration
P
U
T
U
T
AU
) to target speed (V
L
H
(V
+ V
) x T
H
L
U
) =
2
(V
+ V
) x T
H
L
D
) =
2
T
T
AD
)
H
) to initial speed (V
)
L
T
AU
=
(V
+ V
H
2 x (V
– V
)
M
L
T
AD
=
(V
+ V
H
2 x (V
– V
)
M
L
P
D
Time (ms)
D
) (V
– V
)
L
H
L
) (V
– V
)
L
H
L
251
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