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The required move needs a different acceleration and deceleration. By design the Cool Muscle uses a single acceleration value (a#) for both acceleration and deceleration. The following graph shows motor speed as it repeatedly moves between position A and position B. The positive speed is the motor moving from A to B and the negative speed is the motor moving back from B to A. Both moves show a different acceleration and deceleration.

The required move is achieved using the merge motion command structure.

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Program

//Move 1 parameters
a1=100			//acceleration value
a2=10			//deceleration value
s1=100			//target speed
p1=10000		//final position

//Move 2 parameters
a3=50			//acceleration value
a4=5			//deceleration value
s2=50			//target speed
p2=0			//final position
p3=5000			//midpoint position used by both moves

//Example bank
B1
X0
A1,S1,P3,A2,P1		//move 1
A3,S2,P3,A4,P2		//move 2
X-
END.1

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