User guide

➅ Advanced 6250 Features 79
C H A P T E R ➅
Advanced 6250 Features
The information in this chapter will enable you to understand and
implement the 6250's advanced features into your application:
❏ S-Curve Profiling
❏ X-Y Linear Interpolation
S-Curve Profiling
The 6250 allows you to perform S-curve move profiles, in addition to
the usual trapezoidal profiles. S-curve profiling provides smoother
motion control by reducing the jerk (rate of change) in acceleration
and deceleration portions of the move profile (see drawing below).
Decel
Accel
Time
Decel
Velocity
Time
Trapezoidal
Accel
Time
Velocity
Time
S-Curve
Maximum Jerk
Less Jerk
S-curves improve
position tracking.
Because S-curve profiling reduces jerk, it improves position tracking
performance in servo systems, especially in linear interpolation
applications.
S-curve programming
requirements.
To program an S-curve profile, you must use the average accel/decel
commands provided in the 6000 Series programming language. For
every maximum accel/decel command (e.g.,
A, AD, HOMA, HOMAD, JOGA,
JOGAD, etc.) there is an average command for S-curve profiling (see
table below).