Speed Control Setting; Smooth Acceleration/Deceleration; Figure 43. Speed Control; Table 76. Examples Of Gear Setting - Parker P Series User Manual


Belt + Pulley System
Unit Specifications
User Unit
Encoder Specifications
Load Movement / 1
revolution
Electronic Gear setting

Table 76. Examples of Gear Setting

6.6 Speed Control Setting

6.6.1 Smooth Acceleration/Deceleration

For smooth acceleration/deceleration during speed control, you can operate the motor by
creating acceleration/deceleration profile in trapezoidal and s-curve shapes. In addition, you
can perform s-curve operation by setting the speed command s-curve time to 1[ms] or more.
The speed command acceleration/deceleration time (0x2301, 0x2302) is the time it takes to
accelerate to the rated speed or decelerate from the rated speed to full stop. (See the figure
below)

Figure 43. Speed Control

The actual acceleration/deceleration time can be calculated as follows.
Parker Hannifin
Deceleration ratio:10/1, Pulley diameter:100mm
Speed command
1um(0.001mm)
19bit(524288 PPR)
PI*100/10/0.001=31416
Motor Revolutions : 524288
Shaft Revolutions : 31416
Speed command
P series User Guide 134