ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 213)

For the SF=50 graph, the smoothing is so strong with respect to total acceleration
time that the AC acceleration is never reached.
0 0.02 0.04 0.06 0.08 0.1
0
500
1000
1500
2000
2500
3000
3500
4000
SF=0
SF=10
SF=50
Time (sec)
Speed reference
(count/sec)
Figure 3-4: Speed Command for Different Smooth Factors
The profiler smoothes the motion and decreases (and may also prevent)
overshoots. The price is the introduction of delay in the controller response.
3.3.2 Acceleration Limiting and Switch Logic
The limiting logic performs the following functions:
Brings the motor to a stop upon a software or hardware ST command.
Brings the motor to a stop when the speed demand is positive and FLS (Forward
Limit Switch) is active.
Brings the motor to a stop when the speed demand is negative and RLS (Reverse
Limit Switch) is active.
Prevents acceleration or deceleration beyond the SD (stop deceleration) limits.
The parameters relevant to the stop manager are:
Parameters Description
SD Maximum motor acceleration/deceleration, in counts/second 2
VL[2], VH[2] Speed command limit
IL[N] Input logic: defines digital inputs as hard stop or as direction limit
switches (RLS or FLS)
Table 3-4: Stop Manager Parameters
The acceleration limiter prevents the speed controller command from changing abruptly
by limiting the rate of reference change to SD counts/second
2 . When the motor stops due
to a switch action, a zero command is placed at the input to the acceleration limiter. The
motor is brought to complete stop using the SD deceleration.
SimplIQ for Steppers Application Note Unit Modes
MAN-STECR (Ver. 1.1)
14