QBL4208 Manual (V1.03 / 2010-NOV-03)
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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
6.3
Motor velocity
The motor velocity is also dictated by the configuration of the mechanical system that is coupled to
the motor shaft, and by the type of move that is to be affected. For example, a single velocity
application would require a motor with rated velocity equal to the average move velocity. A point to
point positioning would require a motor with a rated velocity higher than the average move velocity.
(The higher velocity would account for acceleration, deceleration and run times of the motion profile).
Figure 6.1: Trapezoidal move and triangular move relates rated motor velocity to average move
velocity for two point to point positioning move profiles.
ω
max
rated operating speed of motor RPM
ω
trap
average speed of motor required for a specified trapezoidal move, RPM
ω
tri
average speed of motor required for a specified triangular move, RPM
D
total distance traveled, motor shaft revolutions
t
1
acceleration time, seconds
t
2
run time, seconds
t
3
deceleration time, seconds
t
4
dwell time, seconds
Figure 6.1: Trapezoidal move and triangular move
Trapezoidal move
t
1
t
3
t
2
(1/4)D (1/2)D (1/4)D
t
4
V
max
For acceleration portion of curve:
For entire move:
Example:
Triangular move
(1/2)D (1/2)D
t
1
t
3
t
4
V
max
For acceleration portion of curve:
For entire move:
Example:
