ADLINK PCI-8134A - Manual (Page 49)

Operations
• 39
velocity( i.e.: the moving distance is too small to reach max_vel), the
maximum velocity is automatically lowered and
smooth accel./decel. is made (see the following Figure). This means that
with moves that don’t reach maximum velocity may cause longer than
expected move times. In such a case, the smaller the moving distance, the
shorter the linear accel./decel. section becomes and the S-curve section is
not reduced unless the linear section is decreased to 0.
The following two graphs show the results of experiments after executing
the unsymmetrical absolute S-curve motion command. Graph1 is the typical
result. of S-curve velocity profile. Graph2 is obtained when the amount of
command pulses is failed to let the velocity reach the designated maximum
velocity. The PCI-8134/PCI-8134A automatically lower the maximum
velocity thus provide a smooth velocity profile.
Command of Graph1:
start_tas_move(axis, 500000, 100, 1000000, 0.05, 0.05, 0.2, 0.2);
V
el
oc
it
y
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pp
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Time (sec)