User`s manual

5.0 - Motion Programs
Page - 49
Since the calculated TM for the given feedrate is 75 msec and the programmed TA for this move is 100 msec, the TM used
will be100 msec instead. This yields the following feedrate value instead of the programmed one:
second
distance of units
30
100
3000
100
I190 . 3
F
===
To be able to reach the desired velocity, a longer move could be performed split into two sections. The first move
will be executed using a suitable TA to get the motor to move from rest. The second move will have a lower
acceleration time TA in order to decrease the move time TM and so reach the programmed feedrate.
5) All the previous analysis was performed assuming a zero ‘S” curve component. A move executed with an ‘S” curve
component will be similar in shape but with rounded sections at the beginning and end of the acceleration lines.
Programmed
feedrate
Maximum
feedrate
reached
Vel
OPEN PROG 1 CLEAR
LINEAR
INC
TS0
F40
TA100
X3
TA75
X3
CLOSE
Programmed
feedrate reached
No ‘S’ curve
with ‘S’ curve
TS TS
T
A
TA