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Panasonic A4P Series User Manual

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[Operation Setting]
Operation
Setting
S-shaped Acceleration/Deceleration Function
S-shaped Acceleration/Deceleration Function
This servo driver can perform the S-shaped acceleration/deceleration at the acceleration/deceleration.
Set the S-shaped acceleration/deceleration in the time to reach the acceleration at the linear acceleration/
deceleration in 16-bit positioning parameter “Positioning S-shaped acceleration/deceleration setting 1st to
4th” and “S-shaped acceleration/deceleration at jog operation”.
Caution
1) Change during a motor step operation applies at the next step operation.
2) When a combined block operation is used (16.Pr54 (Block operation type) = 1), all the operations are per-
formed in the linear acceleration/deceleration, regardless of the S-shaped acceleration/deceleration setting.
3) If the S-shaped acceleration/deceleration setting is “0”, the linear acceleration/deceleration applies.
4) Also if a value of the S-shaped acceleration/deceleration setting is out of an available range, the linear
acceleration/deceleration applies.
5) If a deceleration command or travel during the S-shaped acceleration/deceleration is small, smooth S-
shaped characteristics may not be obtained.
6) The calculation above shows a theoretical value. Actual S-shaped acceleration/deceleration may cause
an error in the setting.
• Available set range of S-shaped acceleration/deceleration (decimals omitted)
Example of calculation: 2500 p/r encoder
For acceleration/deceleration setting = 1000 [ms], an available set range of S-shaped acceleration/deceleration is:
S-shaped acceleration/deceleration setting [ms] 
<
= (127950 
÷
 1000) – 1 <
= 126.950 [ms]
Therefore, for the S-shaped acceleration/deceleration setting of 127 [ms] or more, the linear acceleration/
deceleration is enabled.
2500 p/r encoder
17-bit encoder
S-shaped acceleration/deceleration setting [ms]    (127950 
÷
 acceleration/deceleration setting [ms]) – 1
S-shaped acceleration/deceleration setting [ms]    (
1677066.24 
÷
 acceleration/deceleration setting [ms]
) – 1
V
1
t
2
t
2
t
1
t
1
t
2
t
1
t
2
t
1
V
1
t
2
t
2
V
1
V
1
V1 = Set speed (16.Pr00)
t1 = Acceleration time
t2 = S-shaped acceleration time (16.Pr11)
In order to set:
In order to set:
In order to set:
V
1
= 2000r/min
t
1
= 100ms
V
1
= 2000r/min
t
1
= 100ms
t
2
= 30ms
V
1
= 2000r/min
t
1
= 100ms
t
2
= 50ms
16.Pr10 = t
1
 x
16.Pr00
16.Pr10
16.Pr11
2000
150
0
1st speed
1st acceleration 
1st S-shaped acceleration  
16-bit positioning parameter “Positioning S-
shaped acceleration/deceleration setting 1st to 
4th” is for input of a value of acceleration time 
in a range between 0 and 3000 r/min. So, 
specify as shown below.
<Note>
The examples 1 to 3 below explain the 
acceleration and apply also to the 
deceleration.
Example 1: 
Linear acceleration (t2 = 0)
Example 2: 
S-shaped section less than 50% (t2 <      )
3000
V
1
              = 100ms x
3000
2000
              = 150ms
16.Pr10 =  (t
1 –
 t
2
) x
3000
V
1
              = 70ms x
3000
2000
              = 105ms
16.Pr00
16.Pr10
16.Pr11
2000
105
30
1st speed
1st acceleration 
1st S-shaped acceleration  
16.Pr00
16.Pr10
16.Pr11
2000
75
50
1st speed
1st acceleration 
1st S-shaped acceleration  
16.Pr10 =  (t
1 –
 t
2
) x
3000
V
1
              = 50ms x
3000
2000
              = 75ms
t
1
2
Example 3: 
S-shaped section 50% (t2 =       )
t
1
2