THORLABS BBD301, Руководство пользователя

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BBD30x Series Brushless DC Servo Controllers
Page 59
single cycle of the basic trapezoidal curve. If the jerk value is set to ‘0’ then the profile
is trapezoidal.
In this profile mode, the acceleration increases gradually from 0 to the specified
acceleration value, then decreases at the same rate until it reaches 0 again at the
specified velocity. The same sequence in reverse brings the axis to a stop at the
programmed destination position.
A - acceleration
D - deceleration
V - velocity
J - jerk
Time
Fig. 6.8 Typical S-Curve Profile
The figure above shows a typical S-curve profile. In segment (1), the S-curve profile
drives the axis at the specified jerk (J) until the maximum acceleration (A) is reached.
The axis continues to accelerate linearly (jerk = 0) through segment (2) . The profile
then applies the negative value of jerk to reduce the acceleration to 0 during segment
(3). The axis is now at the maximum velocity (V), at which it continues through
segment (4). The profile then decelerates in a similar manner to the acceleration
phase, using the jerk value to reach the maximum deceleration (D) and then bring the
axis to a stop at the destination.
Joystick
If the optional Thorlabs joystick console is being used (MJC001) the following
parameters are used to set the velocity and acceleration limits and the direction sense
of any moves initiated from the joystick.- see Section 4.10. for more details on joystick
use.
Low Gear Max Vel – The max velocity of a move when low gear mode is selected.
High Gear Max Vel – The max velocity of a move when high gear mode is selected.
Low Gear Accn – The acceleration of a move when low gear mode is selected.
High Gear Accn – The acceleration of a move when high gear mode is selected.
Direction Sense – The actual direction sense of any joystick initiated moves is
dependent upon the application. This parameter can be used to reverse the sense of
Ve
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