CY545 Stepper System Controller
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Optimal Acceleration Curves
The stepping algorithm used in the CY545 is a derivative of our CY525 algorithm, which has
linear to optimal acceleration behavior over much of its range. In fact, the acceleration curve is
near optimal in shape up to about 10000 steps per second. This will provide maximum
performance for any motor/driver/load combination. An example waveform is shown below:
Acceleration Curve as a Function of R
Another feature of the CY545 acceleration algorithm is that the shape is fixed by the value of the
Slope parameter (S). The acceleration curve is always the same for a given value of S. The step
rate parameters merely determine where the CY545 starts stepping, and where it stops
accelerating and starts slewing in the motion profile. The three parameters F, R, and S, are not
coupled by the stepping algorithm, so each may be specified independently. These features are
illustrated in the figure below.
© 2002 Cybernetic Micro Systems
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Chapter 17 - CY545 Step Rate Information
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