User`s manual
10-46 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual
–
January 2001 GFK-1742A
10
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sec
uu
30000
sec
uu
TopSpeed
sec
uu
103000
sec
uu
TopSpeed
cnts
uu
8192
600
rev
cnts
8192
sec
rev
60
3000
sec
uu
TopSpeed
cnts
uu
Counts
User Units
rev
cnts
Revper Counts Enc.
sec
rev
Speed TopMotor
sec
uu
TopSpeed
Next, we need to calculate the velocity and acceleration that we want for our move. In our case, we
want to minimize time, so we will choose a triangular velocity profile. The equations to calculate
the parameters are shown below.
t
t
a
a
t
t
d
d
Vpk
Vpk
time
time
Td
Td
A
A
D
D
X
X
Ta
Ta
Position = Area
Position = Area
Velocity
Torque
Applying our numbers to the triangular velocity equations, we have the following:
a
pk
da
pk
dapk
t
V
a
tt
x
V
ttVx
=
+
=
+=
)(
)(2
)(
2
1
Equations: