Rockwell Automation Publication 750-RM100A-EN-P - August 2019 87
Reference Motion Planners Chapter 9
Individual acceleration and deceleration times allow you more control over decoupling
acceleration and deceleration moves. The following example shows various moves with 5
second acceleration times and 10 second deceleration times.
Figure 31 - Velocity Moves that Accelerate and Decelerate
Note the following relationships:
• Acceleration time is applied when moving away from zero velocity
• Deceleration time is applied when moving towards zero velocity
• When crossing zero velocity and 10/11:1950 [Vel Ctrl Options] bit 10
‘FastZeroCrs’ is not set, two independent moves are created: one move
decelerates to zero velocity and acceleration, while a second move
accelerates to the final velocity target. However, when 10/11:1950 [Vel
Ctrl Options] bit 10 ‘FastZeroCrs’ is set, one move will accelerate through
zero velocity from initial to final target.
• Both acceleration and deceleration times are applied when crossing zero
velocity. When 10/11:933 [Ref Time base] = ‘Time’, these times are
simply added during fast zero crossing.
To Next Page
Loading...
Need help?
General
