Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 356 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
Cubic Curve
When the master-slave axis only has position correspondence, such as point-to-
point correspondence, then the cubic curve can be used to create an electronic
cam curve. When using the cubic curve to create a table, you only need to fill in
the phase angle with the corresponding slave axis position. The software
automatically draws and optimizes the curve. Some applications require a point-
to-point motion trajectory, such as a straight line or a curve. The E-Cam curve
creation is simplified by the cubic curve creation method. As shown in
Figure 182 , the starting angle N1 (the angle from the starting point) and the
ending angle N2 (the angle of entering the target point) can be set according to
the application requirements. There are three different types of curve:
• Straight line — There is a straight line between the two data points of the
cam. The starting angle and the ending angle are not adjustable.
• Constant acceleration — A unidirectional increasing or decreasing curve
with an equal acceleration and deceleration. Only the starting angle can be
adjusted.
• Cubic curve — Both the starting angle and the ending angle can be
adjusted. The change of the angle will affect the speed change when leaving
the starting point and entering the target point. Improper angle setting
causes the speed to change sharply which causes the machine to oscillate.
Figure 182 - Starting and Ending Angle
The KNX5100C software E-Cam table creation by cubic curve method is shown
in Figure 183 . The following is the operation steps of the cubic curve table
creation:
1.
Set E-Cam curve.
The cubic curve table data includes angle, slave axis position, curve type,
starting angle and ending angle. You can change the data corresponding to
each point by dragging the turning point in the Cubic Curve Simulation
diagram, and can also insert or delete a specific turning point. When
dragging, inserting, or deleting a turning point, the data content in the
Cubic Data changes accordingly. However, when directly inputting the
desired content into Cubic Data, click Create Cubic Curve to see the cubic
curve simulation.
2.
After completing the setting of the turning point, set the sample angle
(Sample ang.) and click Convert to E-CAM table.