Rockwell Automation Publication 750-RM100A-EN-P - August 2019 91
Reference Motion Planners Chapter 9
The following example shows the effect of Energy Balance.
Figure 35 - Energy Balance
Note the following relationships:
• Energy Balance moves the maximum acceleration point horizontally so
that it occurs lower or higher in velocity
• For Velocity moves, target velocity is unaffected and, as a result, energy is
unaffected
• Energy Balance does not induce dwells or extend move time
• For Velocity moves, Energy Balance creates asymmetry
• Asymmetry trades maximum acceleration and jerk for minimum
acceleration and jerk
• Asymmetry lets you adjust maximum and minimum acceleration and jerk
times
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