SmoothSlewingTrq Function Block

Pin Diagram

Acceleration Parameter

During acceleration, the acceleration parameter is selected from 4 pre-defined acceleration values (ACC1, ACC2, ACC3 and ACC4) as the actual torque reaches the threshold (Trq1, Trq2 and Trq3 respectively).

Comparing Actual Torque with Defined Torque	Acceleration Value
i_iDrvTrqActl >= i_wDrvTrqRef3	i_wDrvAccLvl4
i_iDrvTrqActl >= i_wDrvTrqRef2	i_wDrvAccLvl3
i_iDrvTrqActl >= i_wDrvTrqRef1	i_wDrvAccLvl2
None of the above condition holds good then	i_wDrvAccLvl1

Example:

If Trq1 = 10%, Trq2 = 20%, Trq3 = 30% (that is, Trq1<Trq2<Trq3) then,

If actual torque is between...	Then acceleration is...
0 and 10%,	ACC1
10 and 20%,	ACC2
20 and 30%,	ACC3
30 and MAX (300)%,	ACC4

NOTE: You must set torque levels such that Trq1<Trq2 <Trq3 to give a four slope acceleration curve. If less than 4 levels of acceleration are required, the values for ACC2, ACC3 and ACC4 should be set to the same value.

Deceleration Parameter

During deceleration, the deceleration parameter is selected from 4 pre-defined deceleration values (DEC1, DEC2, DEC3 and DEC4), as the actual torque reaches threshold Trq4, Trq5 and Trq6 respectively.

Comparing Actual Torque with Defined Torque	Deceleration Value
i_iDrvTrqActl >= i_wDrvTrqRef4	i_wDrvDecLvl1
i_iDrvTrqActl >= i_wDrvTrqRef5	i_wDrvDecLvl2
i_iDrvTrqActl >= i_wDrvTrqRef6	i_wDrvDecLvl3
None of the above condition holds good then	i_wDrvDecLvl4

Example:

If Trq4 = 30%, Trq5 = 20%, and Trq6 = 10% (that is, Trq4>Trq5>Trq6) then,

If actual speed is between...	Then deceleration is...
30 and Max (300)%,	DEC1
20 and 30%,	DEC2
10 and 20%,	DEC3
0 and 10%,	DEC4

NOTE: You must to set torque levels such that Trq4>Trq5>Trq6 to get a three slope deceleration curve. If less than four levels of deceleration are required, the values for DEC2, DEC3 and DEC4 should be set the same.