MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
12
Acceleration & Deceleration (continued)
Acceleration Jerk
The Jerk parameter controls the type of acceleration used by
the SD17060E during the move.
When Jerk = 0, Constant acceleration is used. The drive will
accelerate the motor at a constant rate until the programmed
speed is reached. This type of acceleration will reached the
programmed speed the fastest, but changes in acceleration at
the beginning and ending of the acceleration period are
abrupt. This may cause problems in systems with large iner-
tial loads.
When Jerk = 1, Triangular S Curve acceleration is used. The
drive will accelerate the motor at a constantly changing rate
until the programmed speed is reached. This type of acceler-
ation will be the slowest in reaching the programmed speed,
but it offers the smoothest acceleration.
When the Jerk parameter is programmed in the range of 2 to
5000, Trapezoidal S Curve acceleration is used. In this accel-
eration type, the acceleration changes smoothly at the begin-
ning and the ending, and accelerates linearly during the mid
portion of the acceleration time. The value of the Jerk parame-
ter sets the time of linear acceleration, with larger values set-
ting a longer linear acceleration period. This acceleration type
offers a good compromise between the smoothness of acceler-
ation and the time it takes to reach the programmed speed.
Available Inputs
The SD17060E has three DC inputs that accept 3.5 to 27Vdc signals. (5 to 24Vdc nominal) They can be
wired as differential, sinking, or sourcing inputs. How the SD17060E uses these inputs is fully programma-
ble as well as their active states. (Normally Open (NO) or Normally Closed (NC) inputs.)
Home Input
Many applications require that the machine be brought to a known position before normal operation can
begin. This is commonly called “homing” the machine or bringing the machine to its “home” position. The
SD17060E allows you to define this starting position in two ways. The first is with a Position Preset Com-
mand. The second is with a sensor mounted on the machine. When you define one of the inputs as the Home
Input, you can issue commands to the SD17060E that will cause the unit to seek this sensor. How the
SD17060E actually finds the Home sensor is described in the following section.
CW Limit Switch or CCW Limit Switch
Each input can be defined as a CW or CCW Limit Switch. When used this way, the inputs are used to define
the limits of mechanical travel. For example, if you are moving in a clockwise direction and the CW Limit
Switch activates, all motion will immediately stop. At this point, you will only be able to move in the
counter-clockwise direction.
Velocity
Time
Acceleration
Time
Constant Acceleration
Figure 2.1 Constant Acceleration
Figure 2.2 Triangular S Curve Acceleration
Velocity
Time
Acceleration
Time
Triangular S Curve Acceleration
Figure 2.3 Trapezoidal S Curve Acceleration
Velocity
Time
Acceleration
Time
Trapezoidal S Curve Acceleration
