How to set the stepper motor acceleration and deceleration time?

In conventional applications, there is no need to set the stepper motor acceleration and deceleration. Through the stepper motor driver, the motor can be pulsed and the motor can run directly to meet the requirements. However, in some occasions, the slow start and stop of the motor are required, which requires adjustment of the acceleration and deceleration.

There are generally two types of stepper motor acceleration and deceleration, one is ladder type acceleration and deceleration and the other is S-curve acceleration and deceleration.

Trapezoidal acceleration and deceleration: The following figure is a trapezoidal acceleration and deceleration curve. The speed range is changed in steps. General application scenarios can meet the requirements. However, because the speed is stepped, it cannot be met in some occasions that require high motor running stability. Claim

S-curve acceleration and deceleration: The following figure is an S-curve acceleration and deceleration curve. The speed range S-curve changes smoothly. To achieve this kind of speed curve change, there is a higher requirement for the stepper motor driver. This kind of acceleration and deceleration curve is almost It can adapt to all the application scenarios of stepping motors. Take PMC007 series small stepping motor driver as an example to describe the S-curve acceleration and deceleration, and the setting of acceleration and deceleration time.

As shown in the figure below, the acceleration and deceleration time of the PMC007 series bus small stepping motor driver is divided into 8 levels, corresponding to the acceleration and deceleration coefficients of 1-8, the larger the value, the longer the acceleration and deceleration time

There are two parameter setting methods, one can be set on the computer through the PUSICAN debugging software as shown in the figure below

The second type is to send commands directly through the CANopen interface of the PMC007 series of small stepping motor drivers