Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 11.2.4.2 Motion Profile Table Restrictions
The motion profile table is the integral of the velocity profile; the velocity profile during the acceleration and
the deceleration process is shown below:
The derivative of the motion profile table is calculated using the following formula:
velocity_profile_value
n
= customer_profile_entry
n+
1 - customer_profile_entry
n
11.2.4.2 Motion Profile Table Restrictions
Restrictions for motion profile tables include the following:
1. A motion profile table needs a reasonable number of entries (usually between 1,000-4,000
entries, depending on the acceleration and deceleration time of a motion task). If an accel-
eration or deceleration process takes more position-loop samples than half of the motion profile
table entries, then the drive interpolates linearly between the single motion profile table entries.
2. The motion profile table should contain an even number of entries. The first point of the cus-
tomer table starts with the value of 0 and the last point must contain the value of 2
32
-1.
3. The motion profile table contains values in ascending order.
4. The following motion profile table entry must contain the value of nearly 2
31
.
Example
79 Kollmorgen™ | December 2012