Parker HannifinP Series User Guide 155 Belt + Pulley SystemUnit SpecificationsDeceleration ratio:10/1, Pulley diameter:100mmUser Unit 1um(0.001mm)Encoder Specifications 19bit(524288 PPR)Load Movement / 1revolution PI*100/10/0.001=31416Electronic Gear settingMotor Revolutions : 524288Shaft Revolutions : 31416Table 80. Examples of Gear Setting6.8 Speed Control Setting6.8.1 Smooth Acceleration/DecelerationFor smooth acceleration/deceleration during speed control, you can operate the motor bycreating acceleration/deceleration profile in trapezoidal and s-curve shapes. In addition, youcan perform s-curve operation by setting the speed command s-curve time to 1[ms] or more.The speed command acceleration/deceleration time (0x2301, 0x2302) is the time it takes toaccelerate to the rated speed or decelerate from the rated speed to full stop. (See the figurebelow)Figure 46. Speed ControlThe actual acceleration/deceleration time can be calculated as follows.Speed commandSpeed commandwww.comoso.com
