Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 315
Out of Box Configuration for PowerFlex Drives Appendix B
Small Jerk rates, rates less than 5% of time, produce acceleration and
deceleration profiles close to rectangular ones, such as the one shown in
Trapezoidal Accel/Decel Time on page 313
.
Calculations are performed when an Axis Move, Change Dynamics, or an
MCS™ Stop of StopType = Move or Jog is initiated.
IMPORTANT Higher values of the % of Time result in lower values of Jerk Rate Limits and,
therefore, slower profiles. See the following table for reference.
Table 69 - Velocity Versus Jerk
Trapezoidal
Velocity Profile
(1)
(1) The example on page 313 (labeled Trapezoidal Accel/Decel Time) uses a rectangular acceleration profile.
S-shaped Velocity Profile
with 1< = Jerk <100% of
Time
(2)
(2) The example on page 315 (labeled Programmable S-curve Accel/Decel Time, Acceleration Jerk = 60% of Time) uses a
trapezoidal acceleration profile.
S-shaped Velocity Profile
with Jerk = 100% of
Time
(3)
(3) The example on page 316 (labeled S-curve Accel/Decel Time, Backward Compatibility Setting: Acceleration Jerk = 100% of
Time) uses a triangular acceleration profile.
Accel/Decel Jerk in
Units/sec
3
∞
Accel/Decel Jerk in
% of Maximum
—0…100% —
Accel/Decel Jerk in
% of Time
0% 1…100% 100%
Max Accel
2
Max Velocity
to
∞
VelocityAccelJerk
Time
Time
Time
Programmable S-curve Accel/Decel Time,
Acceleration Jerk = 60% of Time
30% 30%40%
% of Time = 60%
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