Bosch rexroth MCL, Project Planning Manual

Page: 149 / 206

11.2.4 Trapezoidal velocity profile
General
This mode of operation is characteristic for the most applications. After a con‐
stant acceleration phase, a motion with constant velocity up to braking phase
with constant delay follows.
Fig. 11-9: Trapezoidal velocity profile
When determining the respective parameters acceleration a, velocity v, dis‐
placement s and time t for trapezoidal travel, a case distinction must be made
with regard to velocity:
●
Initial velocity v
a
= 0 or v
a
<> 0
● Final velocity v
e
= 0 or v
e
<> 0
Acceleration, initial velocity v
a
= 0
● Velocity v ≠ constant
● Initial velocity v
a
= 0
● Acceleration a = constant and positive
MCL Ironless Linear Motors 141/197
Motor dimensioning
R911330592_Edition 06 Bosch Rexroth AG