310 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019
Appendix B Out of Box Configuration for PowerFlex Drives
The same ‘% of time’ jerk can result in different slopes for the acceleration
profile than on the deceleration profile, dependent on the Speed parameter of
the instruction.
The motion planner algorithm adjusts the actual jerk rate so that both the
acceleration profile and the deceleration profile contain at least the ‘% of time’
ramp time. If the Start Speed is close to the programmed Speed parameter, the
actual percentage of ramp time can be higher than the programmed value.
In most cases, the condition is:
if: (start Speed is == 0.0) OR (start Speed is > 2 * max Speed).
then: you get programmed percentage of ramp time
else: you get higher than programmed percentage of ramp time
Conversion from % Time to Engineering Units
If you want to convert % of Time to Engineering Units, use these equations.
For Accel Jerk:
Speed
Jerk
Deceleration
60% of Time
j
a
[% of Time] =
1 +
100
2
j
a
[EU/s
3
] v
max
[EU/s]
a
max
[EU/s
2
]
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