7.4 Common Function Details
7.4.1 Point to Point Movement ( S-Curve )
Max Acceleration, Max Speed, and Gear Number are important data parameters for generating the S-Curve. The
DYN sevo drive also applies a smoothing filter to the acceleration profile to generate best S-Curve performance.
The S-Curve profile is calculated as the following,
Gear Ratio =
4,096
GEAR NUMBER
Maximum Motor Speed [rpm] =
(MaxSpd+3)*(MaxSpd+3)
16
* 12.21 * Gear Ratio
Maximum Motor Acceleration [rpm/s] = MaxAcl * 635.78 * Gear Ratio
Motor Movement Position = Command Position * Gear Ratio * 4
Set parameter Output
Gear_Num = 4096
MaxSpd = 48
MaxAcl = 30
Command Position = 140,000
Gear Ratio = 1
Maximum Motor Speed = 1985 rpm
Maximum Motor Acceleration = 19073 rpm/s
Motor Movement Position = 560,000 positions
Example:
S-Curve:
Acceleration Time = 0.104 s
Distance During Acceleration = 1.72 rev
Constant Speed Travel Time = 0.154 s
Total S-Curve Time = 0.362 s
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