Baumuller b maXX BM3000 - Comparison of Motion Profiles for Positioning

Operating Modes
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
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of 820
4.8
4.8.2.14 Comparison of Motion Profiles for Positioning
1)
Impulse = Jump in speed = a  
2)
Jerk = Jump in acceleration = da/dt  
The following shows the profiles and the effect of the smoothing generator on the trape-
zoidal profile by means of an example.
Basic positioning data for the example:
n Travel path = 5 Motor revolutions = 50000
hex
Inc
n Positioning speed = 1000 Inc/ms
n Positioning acceleration = 20 Inc/ms²
n Positioning deceleration = 20 Inc/ms²
Time-Optimized Positioning (Trapezoidal Speed Profile)
Figure 182: Time-optimized positioning
Trapezoidal profile S-Curve profile
Speed profile Trapezoidal-shaped S-shaped
(quadratic)
Acceleration profile Block-shaped Trapezoidal-shaped
Impulse
1)
Shock-free Shock-free
Jerk
2)
3 or 4 jerks Jerk-free
Online change of positioning data
possible
Yes Yes
Single Set Value mode possible Yes Yes
Set of Set Values mode possible Yes Yes
0
200
400
600
800
1000
1200
1 23 45 67 89 111 133 155 177
v
Sampling steps