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Sep 09, 2014
12:09 AM
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Sep 09, 2014
12:09 AM
Hi,
I am trying to control a Industrial AC Servo motor using my XE166 device.
The controller interfaces with the servo controller using the PULSE and DIRECTION control.
To achieve a jerk-free motion I have been trying to create a S Curve motion profile (motor speed v/s time).
Calculating instantaneous speed is no problem as I know the distance moved by the motor per pulse, and the pulse duration.
I need to understand how to arrive at a mathematical equation that I could use, that would tell me what should be the nth pulses duration to have the speed profile as an S-Curve.
Since these must be a common requirement in any domain requiring motion control (Robotics, CNC, industrial) there must be some standard reference to do it.
With anticipation
I am trying to control a Industrial AC Servo motor using my XE166 device.
The controller interfaces with the servo controller using the PULSE and DIRECTION control.
To achieve a jerk-free motion I have been trying to create a S Curve motion profile (motor speed v/s time).
Calculating instantaneous speed is no problem as I know the distance moved by the motor per pulse, and the pulse duration.
I need to understand how to arrive at a mathematical equation that I could use, that would tell me what should be the nth pulses duration to have the speed profile as an S-Curve.
Since these must be a common requirement in any domain requiring motion control (Robotics, CNC, industrial) there must be some standard reference to do it.
With anticipation
1 Reply
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Sep 09, 2014
12:30 AM
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Sep 09, 2014
12:30 AM
Your motion has up to 5 phases, limited by the jerk, max acceleration and max speed.
The 3 phases have the following distance (s) formulae:
s = v * t
s = 1/2 a t²
s = 1/6 j t³
You might remember the first 2 from your physics education in school.
You have a slowdown and a brake phase, which should be symmetrical. You probably can take it from there.
The 3 phases have the following distance (s) formulae:
s = v * t
s = 1/2 a t²
s = 1/6 j t³
You might remember the first 2 from your physics education in school.
You have a slowdown and a brake phase, which should be symmetrical. You probably can take it from there.