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6. APPLICATION FUNCTIONS
When the original command shape is not in a trapezoid but in a triangle (for example, the travel distance is
small.), acceleration/deceleration is performed based on the Sin-curve that peaks at the maximum command
speed for triangle command.
Speed
Speed limit value
Command speed
Maximum command
speed for triangle
command
Smoothing filter and S-curve acceleration/deceleration can be used together. In addition, S-curve
acceleration/deceleration and start up speed can be used together. When S-curve acceleration/deceleration
and start up speed is used together, the acceleration/deceleration as shown in the figure below is performed.
Speed
Acceleration time constant
Deceleration time constant
Speed limit value
Acceleration time Deceleration time
Sin-curve
Command speed