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Acceleration/Deceleration
8-9-2
Calculating Accel/Decel Times for Continuous Positioning
228
The method for calculating actual acceleration and deceleration times when
performing continuous operation where the completion codes of the position-
ing sequences are set to continuous is given below.
As an example, the actual acceleration and deceleration times for positioning
sequences 0 to 2 shown in the diagram below are calculated.
Actual acceleration time, T
Actual acceleration time, T
Actual deceleration time, T
Actual deceleration time, T
• The following axis parameter settings are used:
• Maximum speed, V
• The following data, specified in each positioning sequence, is used:
No. 0
• Position
• Initial speed, V
0
• Speed, V
(pps)
1
• Acceleration time, Ta
• Deceleration time, Td
No. 1
• Position
• Initial speed, V
0
• Speed, V
(pps)
2
• Acceleration time, Ta
• Deceleration time, Td
No. 2
• Position
• Initial speed, V
0
• Speed, V
(pps)
3
• Acceleration time, Ta
• Deceleration time, Td
As can be seen from the equations above, the acceleration and deceleration
time settings for the current sequence are used until the next sequence starts.
= (V
– V
)/(V
1
1
0
MAX
= (V
– V
)/(V
2
2
1
MAX
= (V
– V
)/(V
3
2
3
MAX
= (V
– V
)/(V
4
3
0
MAX
(pps)
MAX
(pps)
(ms)
1
(ms)
1
(pps)
(ms)
2
(ms)
2
(pps)
(ms)
3
(ms)
3
Section 8-9
) × Ta
– V
0
1
) × Ta
– V
0
1
) × Td
– V
0
2
) × Td
– V
0
3
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