SINUS PENTA
PROGRAMMING GUIDE
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The factory setting of the unit of measure is 0.1 s; the ramp time is 10 sec.
Figure 4: Example of S ramps
You can also select the rounding off and the rounding off percentage for the 4 stages of starting ramp up and the
starting ramp down, and for the end ramp up and the end ramp down (S ramps). The limited jerk S-curve (jerk is the
derivative of acceleration and a measure of impact) can be represented by a second-order polynomial in velocity.
Limited Jerk S-curves are used to eliminate discontinuities in acceleration that are detrimental to mechanical gear.
The rounding off is expressed as a percentage of the ramp time it relates to; if used, it allows increasing the preset ramp
time by half the sum value of the two rounding off values. Its effect is shown in the figures below.
Example: P009 = 10sec ; P021 = 1111 binary (rounding off selected for all four ramps); P022 = 50%; P023 = 50%
The resulting ramp up time is as follows:
P009 + (( P009* (P022+P023)/2 )/100 ) = 10 + (( 10* (50+50)/2 )/100 ) = 15 sec
The effect of this rounding off can be seen in the figures below:
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