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2 Features of NJ Robotics CPU Unit
2 - 38
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
There are three options for the trajectory type of time-specified motion: the polynomial 3 curve, modi-
fied sine curve, and modified constant velocity curve.
A polynomial 3 curve takes 0.0 as the start velocity and end velocity.
A modified sine curve consists of a combination of sine waves.
This is a type of universal cam curves to that can control acceleration.
It is recommended to select the modified sine curve to use the transition function.
Also use this curve for high-velocity, medium-load equipment.
The modified sine curve is effective in reducing the impact of load variations on the motor.
2-3-13 Trajectory Types for Time-specified Motion
Polynomial 3 Curve
Modified Sine Curve
T
1
2
T
(A)
(B)
(C)
0
Symbol
Meaning
(A)
Acceleration/deceleration
(B)
Velocity
(C)
Position
0
1
2
T
T
1
8
T
7
8
T
(A)
(B)
(C)
Symbol
Meaning
(A)
Acceleration/deceleration
(B)
Velocity
(C)
Position
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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