Timing
Example: positioning command with end velocity and unequal specifications for acceleration and
deceleration
5
4
3
2
1
0
6
0.0
2.0
4.0
6.0
8.0
6
5
4
3
2
1
0
0.0
0.5
1.0
1.5
2.0
6
5
4
3
2
1
0
--0.5
0.0
0.5
1.0
6
5
4
3
2
1
0
--1.0
--0.5
0.0
0.5
1.0
x
v
a
j
Fig. 43 Positioning mode timing graph (example)
Name
Description
x
Item
v
Speed
a
Acceleration
j
Jerk
Tab. 182 Legend for positioning mode timing graph
4.1.3.2
CiA 402
The following graphs show an overview of the objects involved in the positioning mode and their inter-
action with the trajectory generator:
Motion control
209
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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