ADLINK AMP-208C - Manual (Page 86)

Motion Control Theory 72
AMP-204C / AMP-208C
4.2.3 Acc/Deceleration Profile
Basic motion command usually contains distance, velocity, and
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
4.2.3.1 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 4-4: 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