Appendix B: Speed Settings

HSPD value [PPS]†	Speed Window [SSPDM]	Min. LSPD value	Min. ACC [ms]	δ	Max ACC setting [ms]
1 - 65K	0, 1	1	2	50	((HSPD – LSPD) / δ) × 1000
65K - 130K	2	2	1	100
130K - 325K	3	5	1	200
325K - 650K	4	10	1	800
650K - 1.3M	5	20	1	1500
1.3M - 3.2M	6	50	1	3800
3.2M – 6.55M	7	100	1	7500

Speed settings

† If StepNLoop is enabled, the HSPD range values need to be transposed from PPS (pulse/sec) to EPS (encoder counts/sec) using the following formula: EPS = PPS / Step-N-Loop Ratio

In this section

B.1 Acceleration/Deceleration Range

The allowable acceleration/deceleration values depend on the LSPD and HSPD settings. The minimum accel/decel setting for a given high speed and low speed is shown in the speed settings table above. The maximum accel/decel setting for a given high speed and low speed can be calculated using the formula:

Max ACC = ((HS – LS) / δ) × 1000 [ms]

Note: The ACC parameter will be automatically adjusted if the value exceeds the allowable HSPD value range.

Examples:

If HSPD = 20,000 pps, LSPD = 10,000 pps:

Min acceleration allowable: 1 ms
Max acceleration allowable: ((20,000 – 10000) / 50) x 1,000 ms = 200,000 ms (200 sec)

If HSPD = 900,000 pps, LSPD = 9,000 pps:

Min acceleration allowable: 1 ms
Max acceleration allowable: ((900,000 – 9,000) / 1500) x 1000 ms = 594,000 ms (594 sec)

B.2 Acceleration/Deceleration Range – Positional Move

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

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.
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.
Triangle Profile: If either (1) or (2) occur, the velocity profile becomes triangle. Maximum speed is reached at L/2.