ADLINK Technology PCI-8102, User Manual, Page: 57 / 210

Operation Theory 47
4.2.3 Trapezoidal Speed Profile
Trapezodial speed profile means the acceleration/deceleration
area follows a 1st order linear velocity profile (constant accelera-
tion rate). The profile chart is shown as below:
The area of the velocity profile represents the distance of this
motion. Sometimes, the profile looks like a triangle because the
desired distance from user is smaller than the area of given speed
parameters. When this situation happens, the motion controller
will lower the maximum velocity but keep the acceleration rate to
meet user’s distane requirement. The chart of this situation is
shown as below:
This kind of speed profile could be applied on velocity mode, posi-
tion mode in one axis or multi-axes linear interpolation and two
axes circular interpolation modes.
Ve
lo
ci
ty
(p
p
s)
StrVel
Tacc
Tdec
MaxVel
StrVel
Time
(second)
V
e
lo
ci
ty
(p
p
s)
StrVel
Tacc Tdec
MaxVel
StrVel
Time
(second)