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6 POSITIONING CONTROL
6.1.7 Acceleration/deceleration processing
Acceleration/deceleration are processed by the following two methods.
(1) Trapezoidal acceleration/deceleration processing
This is a conventional linear acceleration/deceleration processing.
The acceleration/deceleration graph resembles a trapezoid, as shown in the
diagram below.
Positioning speed
V
Acceleration time Deceleration time
Time
t
0
(2) S-curve acceleration/deceleration processing
S-curve ratio is set as a parameter to provide gentler acceleration and
deceleration than trapezoidal processing. The acceleration/deceleration graph is
sinusoidal, as shown in the diagram below.
Set the S-curve ratio in the parameter block (Refer to Section 4.3.2) or using the
servo program.
Positioning speed
V
Acceleration time
Deceleration time
Time
t
0
S-curve ratio set the part of the sine curve used to produce the acceleration and
deceleration curve as shown in the diagram below.
sine curve
A
B
B/2
(Example)
Positioning
speed
V
Positioning
speed
S-curve ratio 100[%]
S-curve ratio 70[%]
t
b
a
b/a = 0.7
B/2
S-curve ratio = B/A 100
[
%
]
V
t