Profile Acceleration/Deceleration Planning; Trapezoidal Driving [Symmetric] - ICP DAS USA I-8092F User Manual

A.3 Profile Acceleration/Deceleration Planning
According to the motion control, we should used acceleration / deceleration planning for
improving the capability of path planning and reducing the position error. The speed driving profile
in I-8092F can be configured as T-curve and S-curve acceleration / deceleration.
A.3.1 Trapezoidal Driving [Symmetric]
T-curve Description
The linear acceleration / deceleration driving is also called the trapezoidal driving. About the
correlation parameters are: total displacement S, start speed SV, driving speed V, acceleration A.
By above the parameters we can plan the trapezoidal driving:
Acceleration equation:
= + ×
V SV A TA
The time for the end of constant speed:
S
TM =
V
The time for the start of constant speed:
−
V SV
=
A
TA
The T-Curve acceleration / deceleration planning are shown in Fig. A-14.
Trapezoidal driving is starting from the initial speed to the designated drive speed. The
accelerating pulses will be counted, and the deceleration (automatic deceleration) starts from the
ICPDAS
(1-1)
(1-2)
(1-3)
Fig. A -14 Symmetric T-curve acc./dec. planning
94
I-8092F Software User Manual