Solution:

Following is the answer of your inquiry. R0=6750 steps R1=0 PPS R2=5000 PPS R4=1023 R6:automatic ramping down point is enabled. CLOCK=4.9152MHz If set R7=600, then FL=R1*CLOCK/(8192*R7)=R1=0 FH=R2*CLOCK/(8192*R7)=R2=5000 Psd={[(R2*R2)-(R1*R1)]*(R4)}/{16384*(R7)}=2602 steps Tsd=2*Psd/(FL+FH)=1.0408 sec Steps in constant speed FH (Pcs) = R0-Psd*2=6750-2602*2=1546 steps Time period in constant speed FH (Tcs)=Pcs/FH=1546/5000=0.3092 sec The acceleration rate is equal to deceleration rate. So Total time(Tt)=Tcs+2*Tsd=0.3092+2*1.0408=2.3908 sec Of course, Tt will depend on the value of R7. Please also refer to user manual chapter 5 for further information.