Omron NJ501-4300, Руководство пользователя

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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