Delta AX Series Instruction Manual page 370

AX- Ser i es Mo t i o n Co n t r o ll er I n s t r uc t i o ns Ma n u a l
CamCurveType
Poly5 (2)
Basic_Sine (2)
Inclined_Sine (3)
Mod_Acc_Sine (4)
Mod_Acc_Trapezoidal (5)
Cubic_Spline_Nature (6)
Cubic_Spline_Clamp (7)
Cubic_Spline (8)
Velocity Enable / Acceleration Enable

Users can enable or disable the velocities and accelerations of key points through the bVelocityEnable and

bAccelerationEnable parameters of the instruction.
False means that the user-set velocity or acceleration value is not enabled for curve planning. The boundary

condition values of key points will automatically obtain the velocity or acceleration calculated for the previous or
next curve segment so as to achieve continuous velocity or acceleration for the intersection of curves. True
means that a curve will be produced based on the velocities and accelerations of key points, which are the
condition values of IrVelocity and IrAcceleration set by user.
For some of the following curves, the velocity and acceleration of their key points can be specified via

bVelocityEnable and bAccelerationEnable. See details in the following table.
No. Curve type
0 Straight line
Parabola
1
2 Poly5
Acceleration cosine
3
curve
4 Acceleration sine curve
Users can set the velocity and acceleration boundaries of the start point and the end
point, or automatically continue the velocity and acceleration boundary value of the
previous or next segment (via disabling bVelocityEnable / bAccelerationEnable)
Used in the situation where the follower needs to do a simple harmonic motion.
This curve is a cosine curve in the acceleration diagram. The positive maximum
acceleration rate and negative maximum acceleration rate are at the start position and
the end position respectively and it is zero at the middle point. So the Jerk is infinite at
the start position and end position, which is prone to shock and vibration. So the curve
type is suitable for applications in the medium and low speed operation.
Used in the situation where the follower needs to perform a cycloid motion.
This curve is a sine curve in the acceleration diagram, and the acceleration at the start
position and the end position is zero, so the jump produced will not cause the
acceleration to reach infinity. And thus the curve type can be applied for high-speed
operation due to smooth operation.
The acceleration graph of the curve is a sine curve changed from a typical ladder graph,
so that the acceleration is smoother. The curve type is applied for high-speed operation.
The acceleration graph of the curve is a sine curve changed from oblique straight lines
for the acceleration and deceleration segments of a typical ladder diagram. So the
acceleration has better smoothness. The curve type is applied for high-speed operation.
The acceleration at the start and end points of the cubic curve is zero. That is, there is
no force on both ends of the follower.
The velocities for the start and end points of the cubic curve are user-set values. The
acceleration rates for both ends are the positive maximum and negative maximum, so
shock and vibration are likely to occur.
The cubic curve is used when four or more key points are used as interpolation points in
order to link two boundary curves as well as avoid the Runge phenomenon of multi-
order curves.
VelocityEnable AccelerationEnable
Not possible * 1 Not possible *
Not possible Not possible
Possible
Not possible Not possible
Not possible Not possible
Description
Velocity
Automatically
1
calculated
Possible User can define
Ch a p t er 2
Acceleration
0
Automatically
0
calculated
User can define
Automatically
0
calculated
0 0
3 6 5