131[Operation Setting]OperationSettingS-shaped Acceleration/Deceleration FunctionS-shaped Acceleration/Deceleration FunctionThis 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 to4th” and “S-shaped acceleration/deceleration at jog operation”.Caution1) 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 linearacceleration/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 causean error in the setting.• Available set range of S-shaped acceleration/deceleration (decimals omitted)Example of calculation: 2500 p/r encoderFor 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.2500 p/r encoder 17-bit encoderS-shaped acceleration/deceleration setting [ms] (127950 acceleration/deceleration setting [ms]) – 1 S-shaped acceleration/deceleration setting [ms] (1677066.24 acceleration/deceleration setting [ms]) – 1V1t2t2t1t1 t2t1t2t1V1t2 t2V1V1V1 = Set speed (16.Pr00) t1 = Acceleration time t2 = S-shaped acceleration time (16.Pr11)In order to set: In order to set: In order to set:V1 = 2000r/min t1 = 100msV1 = 2000r/min t1 = 100ms t2 = 30msV1 = 2000r/min t1 = 100ms t2 = 50ms16.Pr10 = t1 x16.Pr00 16.Pr10 16.Pr112000 150 01st speed 1st acceleration 1st S-shaped acceleration16-bit positioning parameter “Positioning S-shaped acceleration/deceleration setting 1st to4th” is for input of a value of acceleration timein a range between 0 and 3000 r/min. So,specify as shown below. The examples 1 to 3 below explain theacceleration and apply also to thedeceleration.Example 1: Linear acceleration (t2 = 0)Example 2: S-shaped section less than 50% (t2 < )3000 V1= 100ms x 3000 2000= 150ms16.Pr10 = (t1 – t2 ) x 3000 V1= 70ms x 3000 2000= 105ms16.Pr00 16.Pr10 16.Pr112000 105 301st speed 1st acceleration 1st S-shaped acceleration16.Pr00 16.Pr10 16.Pr112000 75 501st speed 1st acceleration 1st S-shaped acceleration16.Pr10 = (t1 – t2 ) x 3000 V1= 50ms x 3000 2000= 75mst 1 2Example 3: S-shaped section 50% (t2 = )t 1 2
