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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-3 Ro
bo
t F
unc
tion
s
2
2
-3-13
T
rajectory T
ypes for T
ime
-specified Motion
A modified constant velocity curve consists of a combination of sine waves and straight lines.
This is a type of universal cam curves in which the velocity is constant for the half of the trajectory time
period.
Use this curve for middle-velocity, high-load equipment.
Modified Constant Velocity Curve
0
1
4
T
1
16
T
15
16
T
3
4
T
T
(A)
(B)
(C)
Symbol
Meaning
(A)
Acceleration/deceleration
(B)
Velocity
(C)
Position
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......