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9
Motion Control Concepts
Section 1-3
Defining moves
The speed profile below shows a simple MOVE operation. The UNITS param-
eter for this axis has been defined for example as meters. The required maxi-
mum speed has been set to 10 m/s. In order to reach this speed in one
second and also to decelerate to zero speed again in one second, both the
acceleration as the deceleration rate have been set to 10 m/s
2
. The total dis-
tance travelled is the sum of distances travelled during the acceleration, con-
stant speed and deceleration segments. Suppose the distance moved by the
MOVE command is 40 m, the speed profile will be given by the following
graph.
The following two speed profiles show the same movement with an accelera-
tion time respectively a deceleration time of 2 seconds.
Move Calculations
The following equations are used to calculate the total time for the motion of
the axes. Consider the moved distance for the MOVE command as
, the
demand speed as
, the acceleration rate
and deceleration rate .
0
10
Time
Speed
1
2
3
4
5
ACCEL=10
DECEL=10
SPEED=10
MOVE(40)
6
0
10
Time
Speed
1
2
3
4
5
ACCEL=5
DECEL=10
SPEED=10
MOVE(40)
6
0
10
Time
Speed
1
2
3
4
5
ACCEL=10
DECEL=5
SPEED=10
MOVE(40)
6
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V
a
d