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S-Curve Acceleration/Deceleration Profiling
The Gem6K allows you to perform S-curve move profiles, in addition to the usual trapezoidal profiles.
S-curve profiling provides smoother motion control by reducing the jerk (rate of change) in acceleration
and deceleration portions of the move profile (see drawing below). Because S-curve profiling reduces jerk,
it improves position tracking performance, especially in linear interpolation applications.
Trapezoidal
Maximum Jerk
S-Curve Programming Requirements
To program an S-curve profile, you must use the average accel/decel commands provided in the Gem6K
programming language. For every maximum accel/decel command (e.g., A, AD, HOMA, HOMAD, JOGA,
JOGAD, etc.) there is an average command for S-curve profiling (see table below).
Maximum Accel/Decel Commands:
Command
Function
A
Acceleration
AD
Deceleration
HOMA
Home Acceleration
HOMAD
Home Deceleration
Jog Acceleration
JOGA
JOGAD
Jog Deceleration
Joystick Acceleration
JOYA
JOYAD
Joystick Deceleration
Hard Limit Deceleration
LHAD
LSAD
Soft Limit Deceleration
Determining the S-Curve Characteristics
The command values for average accel/decel (
the characteristics of the S-curve. To smooth the accel/decel ramps, you must enter average accel/decel
command values that satisfy the equation ½
represents average accel/decel. Given this requirement, the following conditions are possible:
AA
Time
Time
Less Jerk
Average ("S-Curve") Accel/Decel Commands:
Command
Function
AA
Average Acceleration
ADA
Average Deceleration
HOMAA
Average Home Acceleration
HOMADA
Average Home Deceleration
Average Jog Acceleration
JOGAA
JOGADA
Average Jog Deceleration
Average Joystick Acceleration
JOYAA
JOYADA
Average Joystick Deceleration
Average Hard Limit Deceleration
LHADA
LSADA
Average Soft Limit Deceleration
,
, etc.) and maximum accel/decel (
AA
ADA
A ≤ AA < A
, where
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S-Curve
Time
Time
,
, etc.) determine
A
AD
represents maximum accel/decel and
A
Introduction
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