Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Calculation Notes
1. The acceleration and deceleration values sent to the 3401 module as part of the move profile have
units of steps/ms/sec.
If you are using the above formulas to calculate Ta (the time to accelerate), multiply the
acceleration value sent to the 3401 module by 1000 before using it in the formulas.
If you are using the above formulas to calculate the acceleration rate from a desired Time to
accelerate, divide the result of the calculation by 1000 before using it as the acceleration
parameter sent to the 3401 module.
2. If the number of steps to accelerate plus the number of steps to decelerate is greater than the
number of steps programmed in the target position registers, than the 3401 module will run a
Triangular Velocity Profile.
3. If the number of steps to accelerate plus the number of steps to decelerate is less than the number
of steps programmed in the target position, than the 3401 module will run a Trapezoidal Velocity
Profile.
Ds = (Total Number of Steps) – (Da + Dd)
Tt = Ta + Td + Ds/Vs
Da = Distance to Accelerate (steps)
Ds = Distance at the programmed speed (steps)
Dd = Distance to decelerate (steps)
Vs = Programmed Speed (steps/sec)
Tt = Total Profile Time (seconds)
Starting Speed
The starting speed has a range of 1 to 1,000,000 pulses/sec and is the pulse frequency at which every
move begins and ends. That is, the first and last pulses of the move profile will be at the starting speed.
Although it is not necessary, the smoothest transition from rest to the programmed speed will be achieved
with a Starting Speed equal to the square root of the acceleration value.
Velocity
Starting
Speed
Da Ds Dd
Tt
Vs