When dealing with positional moves, the controller automatically calculates the appropriate acceleration and deceleration based on the following rules:

  1. ACC vs. DEC 1:  If the theoretical position where the controller begins deceleration is less than L/2, the acceleration value is used for both ramp up and ramp down.
  2. ACC vs. DEC 2:  If the theoretical position where the controller begins constant speed is greater than L/2, the acceleration value is used for both ramp up and ramp down.
  3. Triangle Profile: If either (1) or (2) occur, the velocity profile becomes triangle.  Maximum speed is reached at L/2.


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