ADLINK Technology PCI-8102 User Manual

Contents

ADLINK Technology PCI-8102 User Manual Manual pdf 58 page image

48 Operation Theory4.2.4 S-Curve and Bell-Curve Speed ProfileS-curve means the speed profile in accelerate/decelerate area fol-lows a 2nd order curve. It can reduce vibration at the beginning ofmotor start and stop. In order to speed up the acceleration/decel-eration during motion, we need to insert a linear part into theseareas. We call this shape as “Bell” curve. It adds a linear curvebetween the upper side of s-curve and lower side of s-curve. Thisshape improves the speed of acceleration and also reduces thevibration of acceleration.For a bell curve, we define its shape’s parameter as below:X Tacc: Acceleration time in secondX Tdec: Deceleration time in secondX StrVel: Starting velocity in PPSX MaxVel: Maximum velocity in PPSX VSacc: S-curve part of a bell curve in deceleration in PPSX VSdec: S-curve part of a bell curve in deceleration in PPSTacc TdecVSaccVSacc VSdecVSdecTime(Second)Velocity(PPS)StrVelMaxVel