
-92-
(3)-2. When PRUS < PRDS
(i) Set up a small linear acceleration/deceleration range
When
(PRFH+PRFL) x {(PRFH-PRFL) x (PRUR + PRDR + 2) + 2 x PRUS x (PRUR+1) + 2 x PRDS x (PRDR + 1)}
PRMV
(PRMG + 1) x 32768
and
(PRDS+PRFL) x {PRDS x (PRUR + 2 x PRDR + 3) + PRUS x (PRUR + 1)} x 4
(PRMG + 1) x 32768
PRMV >
,
-A + A
2
+ B
PRUR + PRDR + 2
PRFH
However, A = PRUS x (PRUR + 1) + PRDS x (PRDR + 1)
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + PRDR + 2) x PRFL
2
} x (PRUR + PRDR + 2)
(ii) Eliminate the linear acceleration/deceleration range and set up a small linear acceleration section.
When
(PRDS + PRFL) x {PRDS x (PRUR + 2 x PRDR + 3)} + PRUS x (PRUR +1 )} x 4
PRMV
(PRMG + 1) x 32768
and
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
(PRMG + 1) x 32768
PRMV >
,
Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS>0,
PRDS=0)
-A + A
2
+ B
PRUR + 2 x PRDR + 3
PRFH
However, A = PRUS x (PRUR + 1),
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + 2 x PRDR + 3) x PRFL
2
} x (PRUR + 2 x PRDR + 3)
(iii) Eliminate the linear acceleration/deceleration range
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
(PRMG + 1) x 32768
When PRMV
Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS=0, PRDS=0),
(PRMG + 1) x 32768 x PRMV
(PRUR + PRDR + 2) x 2
PRFH
+ PRFL
2
PRMV: Positioning amount PRFL: Initial speed PRFH: Operation speed
PRUR: Operation speed acceleration rate PRDR: Deceleration rate PRMG: Speed magnification rate
PRUS: S-curve acceleration range PRDS: S-curve deceleration range