Mitsubishi Electric Q172CPU Programming Manual page 248

APPENDICES
(c) Two-dwelling asymmetrical curve
1) Trapecloid curve
1
Ta =
8
2
Tb =
2
Tc =
Am =
3
( +
2
• Section (0 T Ta)
A = Amsin
• Section (Ta < T Tb)
A = Am + C0
• Section (Tb < T Tc)
A = Amcos
• Section (Tc < T 1)
A = Amcos
2) Reverse trapecloid curve
1
Ta =
8
2 6Ta +
Tb =
2
Tc =
Am =
3
( +
2
2TaAm
Va =
Vb = Am (Tb
2
2Ta Am
Sa =
Am
Sb = (Tb
2
2
8Ta Am
Sc =
2
APP - 3
6Ta +
Ta
2 +
2Ta + 3 Ta
2 +
1
4 4
2
+ )
2 + (1 +
Ta
2
T + C0
2Ta
( T
6T)
+ C0
2Ta
( T
Tc)
+ C0
2 (1 Tc)
Ta
2 +
2Ta + 3 Ta
2 +
1
4 4
2
+ )
2
Ta + (1 +
2
Ta) + Va
2
4Ta
2
2
Ta) + Va (Tb Ta) + Sa
+ 2VbTa + Sb
1
2 4
)
2
TaTb + Tb (
2
2
1
2
4
)
2 (
TaTb + Tb
2
2
2
) (1 Tc)
2
) (1 Tc)