Rockwell Automation Allen-Bradley PowerFlex 750 Series Reference Manual

Rockwell Automation Publication 750-RM100A-EN-P - August 2019 93
Reference Motion Planners Chapter 9
Figure 36 - Velocity Moves with Initial Acceleration
Initial accelerations increase as the target velocity becomes closer. In this case, there may
only be time to decelerate to the new target or decelerate to the new target while hitting
the jerk limit. When this occurs, parameter 10/11:1939 [VRef Move Seg] = ‘Decel’ or
‘DecelLimited’, respectively.
Figure 37 - Velocity Moves that Decelerate Only
0123456789
10
0
1000
2000
Vel
[RPM]
Compare Trajectories
AccelDecel
DwellDecel
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10
0
5
Accel
[rev/sec
2
]
0123456789
10
-2
0
2
Jerk
[rev/sec
3
]
0123456789
10
Time [sec]
-2
0
2
Snap
[rev/sec
4
]
0 0.5 1 1.5 2 2.5 3 3.5
4
0
1000
2000
Vel
[RPM]
Compare Trajectories
Decel
DecelLimited
0 0.5 1 1.5 2 2.5 3 3.5
4
0
50
Accel
[rev/sec
2
]
0 0.5 1 1.5 2 2.5 3 3.5
4
-100
-50
0
Jerk
[rev/sec
3
]
0 0.5 1 1.5 2 2.5 3 3.5
4
Time [sec]
-500
0
500
Snap
[rev/sec
4
]

Rockwell Automation Allen-Bradley PowerFlex 750 Series Specifications

General

Brand	Rockwell Automation
Model	Allen-Bradley PowerFlex 750 Series
Category	DC Drives
Language	English