Delta DVP-15MC Series, Operation Manual

Page: 439 / 972

Chapter 10 Motion Control Function
10-3
10
10.2 Relation among Velocity, Acceleration and Jerk
DVP-15MC series motion controller adopts the method of the quadratic-curve acceleration and deceleration.
By means of the method, the S-type velocity waveform which is generated can reduce the mechanical shock
effectively. In addition, at least the velocity (v), acceleration (Acc) or deceleration (Dec) and change rate of the
acceleration (Jerk) need be specified while the motion control instructions are used.
Velocity: Indicates the maximum velocity in the motion of an axis with the unit of unit/second.
Acceleration: Indicates the maximum acceleration in the motion of an axis with the unit of unit/second
2
.
Jerk: Indicates the maximum change rate of the acceleration or deceleration in the motion of an axis with the
unit of unit/second
3
. The value of Jerk can be specified in the instruction and the value will be used for
the axis in the acceleration and deceleration. The smoothness of the velocity can be improved by
modifying the value of
Jerk .

The relation among the velocity, acceleration (deceleration) and jerk:
𝐴𝐴𝐴𝐴𝐴𝐴 ( 𝐷𝐷𝐷𝐷𝐴𝐴 ) =
𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
𝐽𝐽𝐷𝐷𝐽𝐽𝐽𝐽 =
𝑑𝑑𝐴𝐴𝐴𝐴𝐴𝐴
𝑑𝑑𝑑𝑑
The acceleration (deceleration) is the variation of the velocity per unit time. The change rate of acceleration is
the variation of the acceleration per unit time. For example, one MC_MoveRelative instruction is be used to
express the relation among the three elements. The distance is 1300000 units; the velocity is
100000units/second; the acceleration is 20000units/second
2
and the jerk is 10000units/second
3
.
See the following chart for the relation among these elements.