User`s manual

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Appendix 3 Way of thinking behind acceleration/acceleration time
The acceleration time is the time from speed 0 up to when reference speed (parameter 1
address A+0010 to 0013) is reached. The deceleration time is the time from the reference
speed up to when speed 0 is reached.
Accordingly, the time until the set speed is reached, the time from the set speed up to 0 or the
startup speed, and the number of pulses at this time in actual positioning are calculated by
the following equations:
where,
Vs: Startup speed (parameter 1 address A+0020 to 0023)
VT: Reference speed (parameter 1 address A+0010 to 0013)
V: Target speed (data)
Tu: Acceleration time from startup speed (Vs) to target speed (V)
Td: Deceleration time from target speed (V) to startup speed (Vs)
TU: Preset acceleration time (data)
TD: Preset deceleration time (data)
The number of pulses in the acceleration/deceleration intervals is calculated as follows:
Tu=
VH - VL
VM - VL
TAU
TD=
VH - VL
VM - VL
TAD
TM=
V - VS
• TU
VT - VS
Td=
V - VS
VT - VS
• TD
Number of acceleration interval pulses PU=
1
2
TU (V+VS)
Number of deceleration interval pulses PD=
1
2
Td (V+VS)
Speed(pps)
V
T
(Target speed)
V
(Speed setting)
V S
T M
TU
Time(ms)
Pu
Po
Td
TD