ADLINK PCI-8258 - Manual (Page 116)

102 Motion Control Theory
4.3.3 Acc/Deceleration Profile
Basic motion command usually contains: 1. distance; 2. velocity;
and 3. acceleration data. This controller plans and calculates
Acceleration & deceleration profile based on these motion
command parameters to make motion operation completed as
desired by users. This controller provides following acceleration
profiles
1. Trapezoidal speed profile, T-curve
2. S-curve
4.3.3.1 Trapezoidal Speed Profile, T-curve
Trapezoidal speed profile (the so called T-curve) is a curve where
the acceleration zone and deceleration zone matches first-order
linear speed profile (equivalent acceleration). As shown in the
velocity-time chart (V-T):
Figure 4-17: Relation of trapezoidal speed profile's speed/acceleration/jerk
VS time
Start velocity
Max. velocity
Max. acceleration
Max. acceleration
Acc. Dec.
Distance
Time
Time
Time
Acceleration
Jerk
Velocity