Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 312)

Acc/Dec Parameters
Chapter 10
10-16
Figure 10.8
Exponential Acceleration Example
.20 .40 .60 .80 1.00 Time (seconds)
0
100
86
63
Feedrate
Commanded
feedrate
EXPONENTIAL
Acceleration
The following equation can be used to approximate axis speed at any time
during exponential axis deceleration:
Speed = (S
in
) - (S
in
- S
com
)(1 - e -x )
where :
S
in
= Initial axis speed
S
com
= Commanded axis speed
e = the natural antilogarithm
(1000/system scan time)(elapsed time in seconds)
x = -------------------------------------------------
(Manual Delay Constant)
As an another example, Figure 10.9 shows axis speeds at various times
during an exponential deceleration. This example assumes an initial speed
of 200 ipm, a commanded speed of 100 ipm, a system scan time of 20 ms,
and a Manual Delay Constant of 8.