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It is necessary to determine the optimum value for the R4 Factor in order to obtain the desired Base Speed and Max
Speed. Some balance must be reached between the lowest and highest desired speeds to allow for the most accurate
settings of each. A large factor will produce the smoothest ramping, but will not allow for very high speeds. A low factor
will produce the higher speeds, but the ramping is not as smooth. In the subroutines affecting the speed settings, the
highest possible factor is used for the given Base Speed and Max Speed. The relationship between the factor and both
the Base and Max Settings is shown in equation 1 and 2.
BASE SPEED = 300 * BASE SETTING / FACTOR (EQ. 1)
MAX SPEED = 300 * MAX SETTING / FACTOR (EQ. 2)
To calculate the time it takes to ramp up or ramp down, equation 3 can be used.
TUP = 2 * RAMP SETTING * (MAX SETTING -BASE SETTING) / 9,830,400 (EQ. 3)
To calculate real acceleration values (in steps/second*second) equation 4 can be used The acceleration profile is linear.
ACCELERATION = (MAX SPEED - BASE SPEED) / TUP (EQ. 4)