Installation guide

Motion Controller Programming Interface 55
6.3.7.3 – Profile Folder
This folder selects the motion profile, maximum accelera-
tion rate, maximum speed and Delay after motion. The
Speed, Acceleration and Deceleration item are program
execution default values that can be altered with basic
commands during program execution.
Motion Profile determines how the motor's speed
changes. Speed changes require a period of accelera-
tion/deceleration to increase/decrease the motor's speed.
The "Motion Profile" determines how this rate is applied.
There are 32 choices, and a profile setting of 1 results in a
"Trapezoidal" profile, this profile yields the minimum move
time. Settings 2 - 32 yields "S-curve" profiles with varying
degrees of smoothing. The higher the profile setting, the
more "S" like the profile becomes. Move times with profile
settings 2 - 32 are from 2 to 62 ms longer respectively than
those executed with a setting of 1. The "S-curve" profiles
usually results in smoother motion at the expense of
longer move times. Move times can be shortened, how-
ever, by raising the acceleration, deceleration, and/or
speed of the move.
Speed sets the non-coordinated speed of an axis in
units/sec.
Acceleration sets the acceleration rate of an axis in
units/sec
2
.
Deceleration sets the deceleration rate of an axis in
units/sec
2
.
Max. accel sets the maximum allowed acceleration or de-
celeration rate in units/sec
2
. This value is also used to
decelerate motion to a stop when a fault such as a travel
limit occurs.
Max. Speed sets the maximum allowed target speed in
units/second. Speed, Acceleration and Deceleration val-
ues can be reset within a program as long as the value
used is less than or equal to the max speed and max accel
respectively.
Delay after motion sets the minimum time, in seconds,
between two moves.
6.3.7.4 – Analog Inputs Folder
This folder defines the analog input configuration and its
filter time constant for an axis.
Input type defines the analog input configuration of an
axis. The choices are differential or single ended.
Filter 1 time constant defines the filter time constant for
analog input 1 of the axis.
Filter 2 time constant defines the filter time constant for
analog input 2 of the axis.
6.3.7.5 – Encoder Folder
This folder allows the Encoder for a Servo drive or closed
loop stepper drive. This folder is described in further detail
in the Servo Drive and Stepper Drive sections of the man-
ual.
6.3.7.6 – Open Loop Stepper Folder
This folder sets up the parameters used by an open loop
stepper and is described in more detail in the Stepper
Drive section of this manual.
6.3.7.7 – Closed Loop Stepper Folder
This folder sets up the parameters used by a closed loop
stepper and is described in more detail in the Stepper
Drive section of this manual.
6.3.7.8 – Servo Drive Folder
This folder sets up the parameters used by a servo drive
and is described in more detail in the Servo Drive section
of this manual.
trapezoidal
0.05
Axis 1
Motion profile
20.0
Max. speed
(units/sec)
Delay after
motion(sec)
Profile
0.0520.0
2
Speed
(units/sec)
Acceleration
(units/sec )
100.0100.0
Max. accel
(units/sec )
2
Deceleration
(units/sec )
2
200.0
124.0
124.0200.0100.0
100.0
trapezoidalAxis 2
0 50 100 150 200 250 300
0
2
4
6
8
10
12
14
16
18
Velocity Response, "s" = 16
Samples (mS)
Velocity
(rev/
sec)
differentialAxis 1
Input type
0.005
Filter 1 time
constant (sec)
Analog inputs
0.005differentialAxis 2
Filter 2 time
constant (sec)
0.005
0.005