Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Acceleration Types
With the exception of homing operations, all of the move operations defined above allow the type of
acceleration to be selected. The three options are described below.
Constant Acceleration: The module accelerates at a constant rate until the programmed speed is reached.
Triangular S Curve Acceleration: The module accelerates slowly at the beginning of the acceleration,
faster at the middle of the acceleration, and again slowly at the end of
the acceleration. The acceleration rate is never constant.
Trapezoidal S Curve Acceleration: The module accelerates slowly at the beginning of the acceleration, at
a constant rate at the middle of the acceleration, and again slowly at
the end of the acceleration.
Notes:
1. The defined acceleration type is also applied to the deceleration.
2. Constant acceleration has the shortest acceleration time and Triangular S Curve has the longest
acceleration time.
3. The constant portion of the Trapezoidal S Curve Acceleration is 50% of the total acceleration time.
Velocity
Time
Velocity
Time
Velocity
Time
T
Acceleration
T
Time
Acceleration
Time
T/2 T/2
Acceleration
Time
T/4 T/2 T/4
T
T