Delta AX Series Instruction Manual page 371

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
No. Curve type
Modified acceleration
5
sine curve
Modified acceleration
6
trapezoidal curve
Cubic spline curve
7
(nature boundary)*
Cubic spline curve
8
(clamp boundary)*
Cubic spline curve*
9
*Note:
1. Not possible: The Setting Value is invalid; Possible: the Setting Value is valid.
2. The boundary conditions of the cubic spline curve are classified into nature boundary and clamp boundary. The nature
boundary means that the acceleration of the spline curve is specified as 0 and the velocity for both ends of the curve
cannot be specified. The clamp boundary means the velocity for both ends of the curve can be specified but the
acceleration cannot be specified.
3. The Cubic_Spline curve is a curve for connecting two boundaries and the boundary curves at the two ends of the cubic
spline curve must be the same as follows.
CamCurve_Type[0] : = Cubic_Spline_Nature;
CamCurve_Type[1] : = Cubic_Spline;
CamCurve_Type[2] : = Cubic_Spline_Nature;
Key point number specified by WriteAmount

The amount of key points specified by WriteAmount is up to 64 points, but the key point amount cannot

exceed the total resolution of the cam table.
Each key point (except the last point) needs to select a curve type, the resolution between the straight lines is

fixed as 1, and the resolution of the remaining curves is averaged by the remaining analytical points; but when
there are only straight lines in the entire cam table, then the points of the entire cam table will be divided
equally by all straight lines.
Curve Types

Curve Type
Line (0)
Parabola
Poly5
Acceleration cosine
curve
VelocityEnable
Possible
Not possible
Not possible
2
Possible
2
3
Not possible
Used in the situation where the velocity-constant motion is maintained.
There will be a large force on the start point and end point of a straight line (the accelerations for
the start point and end point of the line segment approaches infinity), which is very obvious in the
high speed operation. So the curve type is suitable for use in low-speed operation.
Used in the situation where the acceleration must maintain a constant-velocity motion.
This type of curve (with non-zero acceleration rates at the start point and end point of the line
segment) is more likely to cause shock as well as vibration. So the curve type is suitable for use in
lower speed operation.
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
AccelerationEnable
Not possible
Not possible
Not possible
Not possible
Not possible
Description
Velocity Acceleration
User can define
0
Automatically
calculated
Automatically
User can define
Automatically Automatically
calculated
Ch a p t er 2
0
0
0
calculated
calculated
3 6 6