S-Acceleration/Deceleration Function - Panasonic MINAS-A4P Technical Reference

7-12 S-shaped acceleration/deceleration function
This servo amplifier is capable of S-shaped acceleration/deceleration in acceleration or deceleration.
In setting S-shaped acceleration/deceleration, set the time for reaching the speed in linear
acceleration/deceleration process by 16-bit positioning parameter "Positioning S-shaped
acceleration/deceleration setting 1 - 4" and "S-shaped acceleration/deceleration setting at JOG operation".
Speed
In linear
acceleration
and
deceleration
mode
Acceleration
Speed
In S-shaped
acceleration
/
deceleration
mode
Acceleration
tacc 1 - tacc 3 = Acceleration (deceleration) time
A1 = Acceleration in linear
acceleration/deceleration mode
t3 = S-shaped acceleration time at speed small
V3
× ×
t1 t2
＝
3000
Note 1) When the acceleration/deceleration mode is changed during step operation of motor, it is applied to
the next step operation and after.
Note 2) When combined block operation is used (16-bit positioning parameter No.54 (block operation
procedure setting) = 1), all operation is linear acceleration/deceleration irrespective of S-shaped
acceleration (deceleration) setting.
Note 3) When S-shaped acceleration (deceleration) setting is 0, linear acceleration/deceleration is applied.
Note 4) When the value of S-shaped acceleration (deceleration) setting is out of allowed range, linear
acceleration/deceleration is applied.
Note 5) When deceleration instruction or movement during S-shaped acceleration is small, S-shape may not
be smooth.
Note 6) Calculation above is theoretical, and S-shaped acceleration/deceleration time may have an error with
reference to the setting.
- S-shaped acceleration/deceleration setting range (omit decimals)
2500P/r encoder
17bits encoder
Example) When using 2500 P/r encoder
If t1=1000[ms], S-shaped acceleration/deceleration setting range is
S-shaped acceleration setting [ms] ≤ (127950/1000) - 1
If setting more than 127[ms], acceleration and deceleration are liner.
A4P
Ｖ１
Time
ｔａｃｃ１＝ｔ１×Ｖ１／３０００
Ａ１＝Ｖ１／ｔａｃｃ１
＝３０００／ｔ１
ｔ２ ｔ２
Ｖ１
Time
* Shown above is the example where S-shaped acceleration is selected in parameters
below.
V1 - V3 = 16-bit positioning parameter No.00 (positioning setting the first)
t1 = 16-bit positioning parameter No.10 (positioning acceleration setting the first)
t2 = 16-bit positioning parameter No.11 (positioning S-shaped acceleration setting the
S-shaped acceleration (deceleration) setting [ms]
≤ (127950/Acceleration (deceleration) setting [ms]) - 1
S-shaped acceleration (deceleration) setting [ms]
≤ (1677066.24/Acceleration (deceleration) setting [ms]) - 1
≤ 126.950 [ms]
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO.,LTD
Ｖ２
Time
ｔａｃｃ２＝ｔ１×Ｖ２／３０００
Ａ１＝Ｖ２／ｔａｃｃ２
＝３０００／ｔ１
ｔ２ ｔ２
Ｖ２
Time
first)
No. SR-DSV09485 - 71 -
Ｖ３
Time
ｔａｃｃ３＝ｔ１×Ｖ３／３０００
Ａ１＝Ｖ３／ｔａｃｃ３
＝３０００／ｔ１
ｔ３ ｔ３
Ｖ３
Time