UIrobot UIM241 Series User Manual page 32

UIM24102/04/08-IE
UIM241XX can make NEMA17/23 4000RPM (quad step) in 0.25 seconds. UIM241XX
controller has the following non-linear acceleration functions.
If the desired speed is higher than a certain value (i.e. the Maximum Starting Speed,
defined by instruction), and current motor speed is lower than the Max. Starting Speed,
then the motor speed will first step up to the Max Starting Speed and then linearly
accelerated according to the acceleration rate.
Figure7-3: Nonlinear Acceleration Control (case 1)
Speed
Step acceleration
Current Speed
If the desired speed is less than the Max Starting Speed, then the motor speed will step up
to the desired speed immediately.
Figure7-4: Nonlinear Acceleration Control (case 2)
Speed
Current Speed
If the current speed is higher than the Max Starting Speed, the UIM241 will use the linear
Acceleration Control Algorithm to control the speed.
Figure7-5: Nonlinear Acceleration Control (case 3)
Speed
Current Speed
Page 32
Uniform acceleration
Step Acceleration
Uniform acceleration
M4120170509EN
Desired Speed
Maximum Starting Speed
Maximum Starting Speed
Desired Speed
Desired Speed
Maximum Starting Speed
T（Time）
T（Time）
T（Time）
UI Robot Technology Co. Ltd.