ADLINK PCI-8134A - Manual (Page 48)

38
• Operations
(constant jerk).
Tldec: specify the time for linear deceleration section
(constant deceleration).
Tsdec: specify the time for S-curve deceleration section
( constant jerk).
Total time of acceleration is: Tlacc+2Tsacc. The following formula gives the
basic relationship between these parameters.
max_vel = str_vel + accel*(Tlacc+Tsacc);
str_vel = max_vel + decel *(Tldec+Tsdec);
accel = Tsacc * jerk1;
decel = Tsdec * jerk2;
where accel/decel represents the acceleration/deceleration rate at linear
accel./decel. section and are in unit of pps/sec. jerk1, jerk2 are in unit of
pps/sec^2. The minimum value for setting time of accel./decel. should be 0.
The S-curve profile motion functions are designed to always produce
smooth motion. If the time for linear/S-Curve acceleration parameters
combined with the final position don’t allow an axis to reach the maximum
Tsacc
Tlacc
Tsacc Tsdec
Tldec
Tsdec