█ Curved Acceleration
█ Safety
7.5 Dynamic Target Position Update ( DTPU )
Time
The DTPU algorithm also applies a curved acceleration to maintain smooth motion. At each S-Curve transition
point, the acceleration/deceleration is curved at the edges so speed is smoothly changed. This decreases motor
vibration. The smoothing is applied relative to total command movement so overall distance and position accura-
cy is not affected.
Transition Points
Speed
Time
t
1
t
2
t
1
: Safety warning/hazard detected,
axis commanded to retract
t
2
: Current positioning reached,
axis commanded to retract
Dynamic Target Position Update DTPU allows the axis to be commanded as soon as a safety hazard or warning
is detected. This means protection measures can be executed immediately. Without DTPU, the axis must finish
the current positioning before executing protection mesasures.
Speed
Time
t
1
t
1
: Safety warning/hazard detected,
axis commanded to retract
t
2
: Axis immeidately retracts to safe
position
Speed
Acceleration
Time
Speed
Acceleration
Smooth Speed Transitions!
Without DTPU
With DTPU
To Next Page