61
K10CR1 Cage Rotation Stage
The S-curve profile is a trapezoidal curve with an additional 'Bow Value' parameter,
which limits the rate of change of acceleration and smooths out the contours of the
motion profile. The Bow Value is specified in degrees/s
3
and is derived from the Bow
Index field as follows:
The Bow Value is applied in degrees/s
3
and is derived from the Bow Index field as
follows:
Bow Value = 2
(Bow Index -1)
within the range 1 to 262144 (Bow Index 1 to 18).
In this profile mode, the acceleration increases gradually from 0 to the specified
acceleration value, then decreases at the same rate until it reaches 0 again at the
specified velocity. The same sequence in reverse brings the axis to a stop at the
programmed destination position.
Example
Fig. C.3 Typical S-Curve Profile
The figure above shows a typical S-curve profile. In segment (1), the S-curve profile
drives the axis at the specified Bow Index (BI) until the maximum acceleration (A) is
reached. The axis continues to accelerate linearly (Bow Index = 0) through segment
(2). The profile then applies the negative value of Bow Index to reduce the
acceleration to 0 during segment (3). The axis is now at the maximum velocity (V), at
which it continues through segment (4). The profile then decelerates in a similar
manner to the acceleration phase, using the Bow Index to reach the maximum
deceleration (D) and then bring the axis to a stop at the destination.
Note
The higher the Bow Index, then the shorter the BI phases of the curve, and
the steeper the acceleration and deceleration phases. High values of Bow
Index may cause a move to overshoot.
Conversely, low values of Bow Index result in much shallower (longer
duration) acceleration and deceleration curves. When these are
combined with high velocities, the average power consumption
increases and some heating may be apparent.
BI BI
A
D
-BI -BI
V
Time
Velocity
12 3 4 56 7
A - acceleration
D - deceleration
V - velocity
BI - bow index
To Next Page
Loading...
Need help?
General
