10. Application Functions
10.4 Settings Related with Speed Control
10.4.1 Smooth Acceleration/Deceleration
For smooth acceleration/deceleration during speedcontrol, you can operate the motor by
creating acceleration/deceleration profile in trapezoidal and s-curve shapes. In addition, you
can perform s-curve operation by setting the speedcommand s-curve time to 1[ms] or more.
The speedcommand acceleration/deceleration time (0x2301, 0x2302) is the time it takes to
accelerate to the rated speed or decelerate from the rated speed to full stop. (See the figure
below)
Speed
mMotor’s rated speed
Speed command
Acceleration time
Speed command
Deceleration time
Time
The actual acceleration/deceleration time can be calculated as follows.
Acceleration time = speedcommand/ rated speedx speedcommand deceleration time
(0x2301)
Deceleration time = speedcommand/ rated speedx speedcommand acceleration time
(0x2302)
As shown in the figure below, you can operate the machine by creating a S-curve
acceleration/deceleration profile by setting the speedcommand s-curve time to 1[ms] or
more.Please note the relationship betweenacceleration/decelerationtime and S-curve time.
Speed
Speed command
S-curve time
Speed
command
Speed command
S-curve time
Acceleration time
Speed command
Deceleration time
Time
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