Acceleration And Deceleration Processing - Mitsubishi Electric SV13/22 Programming Manual

7. POSITIONING CONTROL
7.1.7

Acceleration and deceleration processing

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Acceleration and deceleration are processed by the two methods described below.
(1) Trapezoidal acceleration and deceleration processing
The conventional linear acceleration and deceleration processing. The
acceleration and deceleration graph resembles a trapezoid, as shown in the
diagram below.
The acceleration and deceleration times are set automatically.
Positioning speed
(2) S-curve acceleration and deceleration processing
The S-curve ratio is set as a parameter to provide gentler acceleration and
deceleration than trapezoidal processing. The acceleration and deceleration
graph is sinusoidal, as shown in the diagram below.
Set the S-curve ratio in the parameter block (see Section 4.4.2) or in a servo
program.
Positioning speed
As shown in the diagram below, the S-curve ratio sets the part of the sine curve
used to produce the acceleration and deceleration curve.
search engine
V
0
Acceleration time
V
0
Acceleration time
(Example)
A
Positioning
B
speed
B/2 B/2
Positioning
speed
Sine curve
S- curve ratio = B/A × 100%
7 − 17
t
Time
Deceleration time
t
Time
Deceleration time
V
t
S- curve ratio 100%
V
b
b/a =0.7
a
t
S- curve ratio 70%