Panasonic A4P Series Shaped Acceleration/Deceleration Function, Example Linear acceleration t2 =

S-shaped Acceleration/Deceleration Function [Operation Setting]

S-shaped Acceleration/Deceleration Function

This servo driver can perform the S-shaped acceleration/deceleration at the acceleration/deceleration. Set the S-shaped acceleration/deceleration in the time to reach the acceleration at the linear acceleration/ deceleration in 16-bit positioning parameter “Positioning S-shaped acceleration/deceleration setting 1st to 4th” and “S-shaped acceleration/deceleration at jog operation”.

					V1
			V1 = Set speed (16.Pr00)￿
t2		t2
			t1	= Acceleration time￿
	t1		t2	= S-shaped acceleration time (16.Pr11)

16-bit positioning parameter “Positioning S- shaped acceleration/deceleration setting 1st to 4th” is for input of a value of acceleration time in a range between 0 and 3000 r/min. So,

specify as shown below.￿

￿

<Note>￿

The examples 1 to 3 below explain the acceleration and apply also to the deceleration.

Example 1: ￿			Example 2: ￿				Example 3: ￿		t21￿)
Linear acceleration (t2 = 0)			S-shaped section less than 50% (t2 < t21￿)				S-shaped section 50% (t2 =
	V1				V1				V1	Operation Setting
	t1		t2		t2		t2	t2
				t1			t1
In order to set:	V1￿= 2000r/min￿		In order to set:	V1￿= 2000r/min￿			V1￿= 2000r/min￿
	t1￿ = 100ms			t1￿ = 100ms￿			In order to set: t1￿ = 100ms￿
	3000￿			t2￿ = 30ms			t2￿ = 50ms
16.Pr10 = t1 x			16.Pr10 = (t1 – t2) x		3000￿		16.Pr10 = (t1 – t2) x	3000￿
	V1
	3000￿				V1			V1
= 100ms x 2000			= 70ms x		3000￿		= 50ms x	3000￿
= 150ms					2000			2000
			= 105ms				= 75ms
16.Pr00￿1st speed￿		2000￿	16.Pr00￿1st speed￿			2000￿	16.Pr00￿1st speed￿			2000￿
16.Pr10￿1st acceleration ￿		150￿	16.Pr10￿1st acceleration ￿			105￿	16.Pr10￿1st acceleration ￿			75￿
16.Pr11 1st S-shaped acceleration		0	16.Pr11 1st S-shaped acceleration			30	16.Pr11 1st S-shaped acceleration			50

Caution

1)Change during a motor step operation applies at the next step operation.

2)When a combined block operation is used (16.Pr54 (Block operation type) = 1), all the operations are per- formed in the linear acceleration/deceleration, regardless of the S-shaped acceleration/deceleration setting.

3)If the S-shaped acceleration/deceleration setting is “0”, the linear acceleration/deceleration applies.

4)Also if a value of the S-shaped acceleration/deceleration setting is out of an available range, the linear acceleration/deceleration applies.

5)If a deceleration command or travel during the S-shaped acceleration/deceleration is small, smooth S- shaped characteristics may not be obtained.

6)The calculation above shows a theoretical value. Actual S-shaped acceleration/deceleration may cause an error in the setting.

• Available set range of S-shaped acceleration/deceleration (decimals omitted)

2500 p/r encoder￿S-shaped acceleration/deceleration setting [ms]		(127950⎟ acceleration/deceleration setting [ms]) – 1￿
17-bit encoder	S-shaped acceleration/deceleration setting [ms]	1677066(.24 ⎟ acceleration/deceleration setting [ms]) – 1

Example of calculation: 2500 p/r encoder

For acceleration/deceleration setting = 1000 [ms], an available set range of S-shaped acceleration/deceleration is:

S-shaped acceleration/deceleration setting [ms]< (127950 ⎟ 1000) – 1 < 126.950 [ms]

==

Therefore, for the S-shaped acceleration/deceleration setting of 127 [ms] or more, the linear acceleration/ deceleration is enabled.

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