5-155.5.2 Velocity ProfileIn a trapezoidal motion, the acceleration of the moving part follows the acceleration type set by the #4 Selectingacceleration type parameter until it reaches the feed velocity. Hereafter, the move is continued with the feedvelocity, then decelerates and stops according to the deceleration type set by the #5 Selecting decelerationtype parameter. The feed velocity varies depending on the operation.The acceleration and deceleration types can be selected separately. There are two options for acceleration anddeceleration: a constant acceleration type and an S-shaped type (where the acceleration/deceleration followsa second order spline). Generally, the S-shaped type can limit vibrations in the machine better, but the peaktorque or peak thrust at acceleration/deceleration become greater and a correspondingly larger motor torque ormotor thrust will be required.The acceleration/deceleration time can also be selected separately. The values of the #7 Acceleration timeduring a trapezoidal move and #8 Deceleration time during a trapezoidal move parameters are set tovalues equivalent to the maximum velocity shown in the #357 Maximum velocity monitor. The actualacceleration/deceleration time becomes the value obtained by multiplying the maximum velocity by the velocityratio during a trapezoidal move. By doing so, the same acceleration can be maintained without changing #7 and#8 even when the feed velocity setting is changed.[Constantacceleration][Acceleration] [Deceleration]Feeding VelocityMaximum velocity#7 Acceleration time during atrapezoidal moveActual acceleration time200ms/divNORM:5kS/sWaiting for trigger Waiting for trigger200ms/divNORM:5kS/sActual deceleration timeFeeding VelocityMaximum velocity#8 Deceleration time during atrapezoidal move[Acceleration] [Deceleration][S-shaped]Waiting for triggerFeeding VelocityMaximum velocity#7 Acceleration time during atrapezoidal moveActual acceleration time200ms/divNORM:5kS/sWaiting for triggerFeeding VelocityMaximum velocity#8 Deceleration time during atrapezoidal moveActual deceleration time200ms/divNORM:5kS/s5
