Set the actuator acceleration and deceleration is very important
Screw series acceleration and deceleration set about 300ms
Belt series acceleration and deceleration set about 500ms
The calculation of acceleration: the acceleration is the velocity variable momentum in the unit
Acceleration = (speed 1- speed 2) / (time from speed 1 to speed 2)
That is, if you want to run 2000 mm in 5 seconds, it is usually to accelerate - speed - deceleration of this way to control the motor
Set a constant speed of 4 seconds, acceleration and deceleration is 0.5 seconds, then
Accelerated time to run the distance ^2= X acceleration 0.5sec *0.5 sec/2=1/2*a*t
The speed of constant velocity = acceleration 0.5 seconds X The distance is the speed of the =v*t= constant velocity x time = (acceleration x 0.5 seconds) x 4 seconds
The deceleration of the case and the acceleration is the same, minus speed = x
acceleration -1 Deceleration when the distance is also the same as the speed of the speed run = less speed x 0.5 seconds x 0.5 seconds So the total running distance is = acceleration x 0.5 seconds x0.5 seconds /2 + (acceleration x 0.5 seconds) x 4 seconds + speed x0.5 seconds
seconds So the formula becomes = acceleration 0.125+ x acceleration x 2 + acceleration 0.125= x acceleration x 2.5 = 2000 mm
So acceleration = 800 mm/ seconds ^2 = 0.8 m/ seconds ^2