AX-Series Motion Controller Instructions Manual Chapter 2
366
5
Modified acceleration
Possible Not possible User can define 0
6
Modified acceleration
trapezoidal curve
Not possible Not possible 0 0
7
Cubic spline curve
(nature boundary)*
2
Not possible Not possible
Automatically
calculated
0
8
Cubic spline curve
(clamp boundary)*
2
Possible Not possible User can define
Automatically
calculated
9
Cubic spline curve*
3
Not possible Not possible
Automatically
Automatically
*Note:
1. Not possible: The Setting Value is invalid; Possible: the Setting Value is valid.
2. The boundary conditions of the cubic spline curve are classified into nature boundary and clamp boundary. The nature
boundary means that the acceleration of the spline curve is specified as 0 and the velocity for both ends of the curve
cannot be specified. The clamp boundary means the velocity for both ends of the curve can be specified but the
acceleration cannot be specified.
3. The Cubic_Spline curve is a curve for connecting two boundaries and the boundary curves at the two ends of the cubic
spline curve must be the same as follows.
CamCurve_Type[0] : = Cubic_Spline_Nature;
CamCurve_Type[1] : = Cubic_Spline;
CamCurve_Type[2] : = Cubic_Spline_Nature;
Key point number specified by WriteAmount
The amount of key points specified by WriteAmount is up to 64 points, but the key point amount cannot
exceed the total resolution of the cam table.
Each key point (except the last point) needs to select a curve type, the resolution between the straight lines is
fixed as 1, and the resolution of the remaining curves is averaged by the remaining analytical points; but when
there are only straight lines in the entire cam table, then the points of the entire cam table will be divided
equally by all straight lines.
Curve Types
Line (0)
Used in the situation where the velocity-constant motion is maintained.
There will be a large force on the start point and end point of a straight line (the accelerations for
the start point and end point of the line segment approaches infinity), which is very obvious in the
high speed operation. So the curve type is suitable for use in low-speed operation.
Parabola
Used in the situation where the acceleration must maintain a constant-velocity motion.
This type of curve (with non-zero acceleration rates at the start point and end point of the line
segment) is more likely to cause shock as well as vibration. So the curve type
is suitable for use in
lower speed operation.
Poly5
Users can set the velocity and acceleration boundaries of the start point and the end point, or
automatically continue the velocity and acceleration boundary value of the previous or next
segment (via disabling bVelocityEnable / bAccelerationEnable)
Acceleration cosine
curve
Used in the situation where the follower needs to do a simple harmonic motion.
This curve is a cosine curve in the acceleration diagram. The positive maximum acceleration rate
and negative maximum acceleration rate are at the start position and the end position respectively
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