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Operation Theory 45
4.2.3 Trapezoidal speed profile
Trapezodial speed profile means the acceleration/deceleration
area follows a 1st order linear velocity profile (constant accelera-
tion rate). The profile chart is shown as below:
The area of the velocity profile represents the distance of this
motion. Sometimes, the profile looks like a triangle because the
desired distance from user is smaller than the area of given speed
parameters. When this situation happens, the motion controller
will lower the maximum velocity but keep the acceleration rate to
meet user’s distane requirement. The chart of this situation is
shown as below:
This kind of speed profile could be applied on velocity mode and
position mode in one axis or multi-axes linear interpolation and
two axes circular interpolation modes.
4.2.4 S-curve and Bell-curve speed profile
S-curve means the speed profile in the accelerate/decelerate area
following a 2nd order curve. It can reduce vibration when the
motor is starting and stopping. In order to speed up the accelera-
tion/deceleration during motion, we need to insert a linear part into