User manual

256 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015

Appendix C Program

Choose a Profile

Consider cycle time and smoothness when you choose a profile.

If you want Choose this profile Consideration

• Fastest acceleration and deceleration

times

• More flexibility in programming

subsequent motion

Trapezoidal Je rk doesn’t limit the acceleration and

deceleration time:

• The Acceleration and Deceleration rates

control the maximum change in Velocity.

• Your equipment and load get more stress

than with an S-curve profile.

• Jerk is considered infinite and is shown as a

vertical line.

Smoother acceleration and deceleration that

reduces the stress on the equipment and load

S-curve Jerk limits the acceleration and deceleration

time:

• It takes longer to accelerate and decelerate

than a trapezoidal profile.

• If the instruction uses an S-curve profile,

the controller calculates acceleration,

deceleration, and jerk when you start the

instruction.

• The controller calculates triangular

acceleration and deceleration profiles.

Velocity

Accel

Jerk

Time

VelocityAccel

Jerk

Time