Table of Contents
Advertisement
C
M
ALCULATING
OVE
Constant Acceleration Equations (continued)
Figure R3.1 gives the equations to calculate Time, Distance, and Acceleration values for a constant accelera-
tion move.
Acceleration Type
Linear
If the sum of the D
will have a Trapezoidal profile.
If the sum of the D
will have a Triangular profile and your move will reach the Programmed Speed before it begins to decelerate.
If the sum of the D
move will have a Triangular profile and it will not reach the Programmed Speed before it begins to decelerate.
As an example, lets assume the values in table R3.2 for a move profile.
From figure R3.1:
Time to accelerate: T
Time to decelerate: T
Distance to Accelerate: D
Distance to Decelerate: D
Total Distance needed to accelerate and decelerate: 250,002 + 199,982 = 449,984 steps
If a move with the above acceleration, deceleration, starting speed, and programmed speed has a length
greater than 449,984 steps, the SMD17E2 will generate a Trapezoidal profile. If the move is equal to 449,984
steps, the unit will generate a Triangular profile and the it will output one pulse at the programmed speed. If
the move is less than 449,984 steps, the unit will generate a Triangular profile and the programmed speed will
not be reached.
In the case of a Triangular profile where the programmed speed is not reached, it is fairly easy to calculate the
maximum speed (V
total distance traveled is equal to the sum of D
D
= T
*(V
A
A
D
= (V
A
M
D
= (V
D
M
Therefore, total distance traveled =
D
+ D
A
D
In the case where the acceleration and deceleration values are equal, this formula reduces to:
D
+ D
A
D
44
P
ROFILES
T
or T
A
(Time to Accelerate
or Decelerate)
T
= (V
– V
A
P
Table R3.1 Acceleration Equations
and D
values of the move is less than the total number of steps in the move, your move
A
D
and D
values of the move is equal to the total number of steps in the move, your move
A
D
and D
values of the move is greater than the total number of steps in the move, your
A
D
Name
Acceleration (a)
Deceleration (d)
Starting Speed (V
)
S
Programmed Speed (V
= (V
– V
)/a = (100,000 - 141)/20,000 = 4.993 seconds
A
P
S
= (V
– V
)/d = (100,000 - 141)/25,000 = 3.994 seconds
D
P
S
= T
*(V
A
A
P
= T
*(V
D
D
) attained during the move. Because the move is always accelerating or decelerating, the
M
+ V
)/2 and T
= (V
M
S
A
M
– V
)/a * (V
+ V
)/2 = (V
S
M
S
2
2
– V
)/2d.
S
2
2
= (V
– V
)/2a + (V
M
S
M
2
2
= (V
– V
)/a
M
S
D
or D
D
A
(Distance to Accelerate
or Decelerate)
)/a
D
= T
*(V
S
A
A
Value
2
20,000 steps/sec
2
25,000 steps/sec
141 steps/sec
)
100,000 steps/sec
P
Table R3.2 Sample Values
+ V
)/2 = 4.993 * (100,000 + 141)/2 = 250,002 steps
S
+ V
)/2 = 3.994 * (100,000 + 141)/2 = 199,982 steps
P
S
and D
.
A
D
– V
)/a. By substitution:
S
2
2
– V
)/2a. By the same method,
M
S
2
2
– V
)/2d.
S
ADVANCED MICRO CONTROLS INC.
SMD17E2 User Manual
D
(Average
Acceleration)
2
+ V
)/2
a = (V
P
S
P
SMD17E2
Parameter Values
20
25
141
100,000
a
2
– V
)/2D
S
A
Advertisement
Table of Contents
Need help?
Do you have a question about the SMD17E2 and is the answer not in the manual?
Questions and answers