Rockwell Automation Publication 750-RM100A-EN-P - August 2019 83
Reference Motion Planners Chapter 9
When 10/11:931 [Ref Move Type] = (0) ‘LinScurve’, it provides the standard motion
profile type used in 750 series drives. A similar move can be generated simply by selecting
a different move type. Figure 29
shows different move types for an 1800 RPM velocity
move with a 10 second acceleration time.
Figure 29 - Velocity Moves with Different Move Types
Note the following relationships:
• Sine Squared is the smoothest. It trades maximum jerk and snap for
smoothness.
• Poly5 trades end point smoothness for lower maximum acceleration,
maximum jerk, and minimum snap.
• LinScurve and Cubic are the least smooth. They generate trapezoidal
moves and trade smoothness for lower maximum snap.
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