AMCI SV160E2, Руководство пользователя, Страница: 27 / 120

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SV160E2 User Manual
M
OTION
C
ONTROL
27
A Simple Move
As shown in the figure below, a move from A (Current Position) to B (Target Position) consists of several
parts.
Figure R2.1 A Trapezoidal Profile
1) The move begins at point A, where the motor accelerates at the programmed Acceleration Value until
the speed of the motor reaches the Programmed Speed . Both the Acceleration Value and the
Programmed Speed are programmed when the move command is sent to the SV160E2.
2) The motor continues to run at the Programmed Speed until it reaches the point where it must
decelerate before reaching point B at zero speed.
3) The motor decelerates at the Deceleration Value , which is also programmed by the move command,
until the Target Position (B) is reached. The motor stops at this point. Note that the acceleration and
deceleration values can be different in the move.
Figure R2.1 above shows a Trapezoidal Profile. A Trapezoidal Profile occurs when the Programmed Speed is
reached during the move. This occurs when the number of steps needed to accelerate and decelerate are less
than the total number of steps in the move.
Figure R2.2 below shows a Triangular Profile. A Triangular Profile occurs when the number of steps needed
to accelerate to the Programmed Speed and decelerate from the Programmed Speed are greater than the total
number of steps in the move. In this case, the profile will accelerate as far as it can before it has to decelerate
to reach the Target Position at zero speed. The Programmed Speed is never reached.
Figure R2.2 A Triangular Profile
SPE
ED
POSITION
A B
S
PEE
D
POSITION
A B