Rockwell Automation Publication 750-RM100A-EN-P - August 2019 67
Chapter 9
Reference Motion Planners
PowerFlex® 750-Series drives with TotalFORCE® control provide built-in motion
planners with features for flexible configuration and generation of Position and
Velocity Reference trajectories across a wide range of applications.
New Features
Overviews on how to use the Position Reference and Velocity Reference Motion
Planners are provided, each highlighting new features to:
• Provide a selection of useful move profile types with easy switching
between them
• Allow users to enter acceleration and deceleration times directly
• Complete decoupling of acceleration and deceleration profiles, making it
easier to generate asymmetric move profiles
• Smoothly transition in and out of velocity, acceleration, and jerk limits
• Create a simple way to balance smoothness, energy, and peak dynamics
• Automatically increase move final time for best performance when inputs
generate constrained circumstances
Benefits
Leveraging these new features to balance energy efficiency, peak dynamics, and
smoothness in a simple way, Position Reference and Velocity Reference motion
planners do the following:
• Prevent steps in jerk that beat up mechanical components over time. This
often leads to less frequent re-tuning of servo loops and down time to
replace components.
• Steps in jerk and other discontinuities generate odd harmonics that excite
mechanical resonances. This leads to servo loops working harder to
remove these self-induced resonances. As a result, the drive consumes more
energy.
• Balance peak dynamics which translates to lower energy requirements for
some applications.
• Configure motion profiles to operate closer to machine limits, while
preserving high dynamics.
• Configure motion profiles to generate torque-speed curves that improve
motor utilization and use more of its operating range.
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