Parker PDHX-E Series User Manual page 43

have travelled half of the defined distance due to the acceleration setting of 1 rev/sec/sec.
The motion profile for this move would look like this.
Velocity
(revs/sec)
Vmax
Vavg
(= 0.5 Vmax)
Trapezoidal Profile
A trapezoidal move profile results when the defined velocity is attained before the motor shaft
has moved half of the specified distance. This is due to a defined velocity that is low, a
defined acceleration that is high, a move distance that is long, or a combination of all three.
For example, if the acceleration is set to 10 revs/sec/sec, velocity is set to 1 rev/sec, and
distance is specified as 20000 steps (5 revs), the resulting motion profile would look like this:
Velocity
(revs/sec)
1
ta = Accelerate
tc = Constant velocity
td = Decelerate
User Profiles
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2
1
0
0
Figure 5-2. Triangular Profile
0
ta
0 0.1
Figure 5-3. Trapezoidal Profile
ta td
1 2 3 4
Time, seconds
tc
5
Time, seconds
td
5.1