User`s guide

Operation Theorem • 41
Total time of acceleration is: Tlacc+2Tsacc. The following formula gives the
basic relationship between these parameters.
max_vel = str_vel + accel*(Tlacc+Tsacc);
str_vel = max_vel + decel *(Tldec+Tsdec);
accel = Tsacc * jerk1;
decel = Tsdec * jerk2;
where accel/decel represents the acceleration/deceleration rate at linear
accel./decel. section and are in unit of pps/sec. jerk1, jerk2 are in unit of
pps/sec^2. The minimum value for setting time of accel./decel. should be 0.
The S-curve profile motion functions are designed to always produce
smooth motion. If the time for linear/S-Curve acceleration parameters
combined with the final position don’t allow an axis to reach the maximum
velocity( i.e.: the moving distance is too small to reach max_vel), the
maximum velocity is automatically lowered and
smooth accel./decel. is made (see the following Figure). This means that
with moves that don’t reach maximum velocity may cause longer than
expected move times. In such a case, the smaller the moving distance, the
shorter the linear accel./decel. section becomes and the S-curve section is
not reduced unless the linear section is decreased to 0.
Velocity (pps)
Time (sec)