Timing
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
--0.2
--0.1
0.0
0.1
0.2
0.3
0.4
0.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
--0.2
--0.1
0.0
0.1
0.2
0.3
0.4
0.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
--1.0
--0.5
0.0
0.5
1.0
v
a
j
Fig. 46 Timing graph of velocity mode (example)
Name
Description
v
Speed
a
Acceleration
j
Jerk
Tab. 190 Legend for timing graph of velocity mode
4.1.4.2
CiA 402
The following graphs show an overview of the objects involved in the velocity mode and their interac-
tion with the trajectory generator:
Motion control
216
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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