User guide

Control Loops CME 2 User Guide
126 Copley Controls
…Enter basic Position Loop settings, continued:
6
Change/verify the trajectory values as needed:
Parameter
Description
Max Velocity
Maximum trajectory velocity. Max value may depend upon the back EMF and the Max
feedback count. Min:0. Default: 0.25 x motor velocity limit.
Max Accel
Maximum trajectory acceleration. Max value may depend upon the load inertia and
peak current. Min:0. Default: 0.5 x velocity loop Accel. Limit value.
Max Decel
Maximum trajectory deceleration. Max value may depend upon the load inertia and
peak current. Min:0 (disables limit). Default: 0.5 x velocity loop Accel. Limit value.
Abort Decel
Deceleration rate used by the trajectory generator when motion is aborted. Min:0.
Default: 0.5 x velocity loop Accel. Limit value.
Jerk
Rate of change of acceleration. The value of jerk set during the calculate procedure
produces an S-Curve whose maximum slope is equal to the trajectory profile slope.
This value will produce a maximum acceleration that is not more than the initial default
value of acceleration. Small values will produce less jerking but will take longer to
complete move. Large values will produce more jerking and a more trapezoidal profile
but will complete the move faster.
Note that setting limits to zero disables the trajectory generator so that the command
input is not limited by the generator. Velocity is only limited by the Velocity Limit set in
the Velocity Loop.