Comparison Of Motion Profiles For Positioning - Baumuller b maXX BM3000 Operating Manual

4.8
Operating Modes

4.8.2.14 Comparison of Motion Profiles for Positioning

Speed profile
Acceleration profile
Impulse
Jerk
Online change of positioning data
possible
Single Set Value mode possible
Set of Set Values mode possible
Impulse = Jump in speed = a  
1)
2) Jerk = Jump in acceleration = da/dt  
The following shows the profiles and the effect of the smoothing generator on the trape-
zoidal profile by means of an example.
Basic positioning data for the example:
Time-Optimized Positioning (Trapezoidal Speed Profile)
v
Figure 182:
560 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
1)
2)
n Travel path = 5 Motor revolutions =
n Positioning speed =
n Positioning acceleration =
n Positioning deceleration =
1200
1000
800
600
400
200
0
1 23 45 67 89 111 133 155 177
Time-optimized positioning
Trapezoidal profile S-Curve profile
Trapezoidal-shaped S-shaped
(quadratic)
Block-shaped Trapezoidal-shaped
Shock-free Shock-free
3 or 4 jerks Jerk-free
Yes
Yes
Yes
50000 Inc
hex
1000 Inc/ms
20 Inc/ms²
20 Inc/ms²
Yes
Yes
Yes
Sampling steps
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