User guide

Control Loops CME 2 User Guide
130 Copley Controls
Test S-Curve Profile
DISCUSSION: If the amplifier will perform S-Curve profile moves, use this procedure to
tune the level of jerk. (Jerk is the rate of change of acceleration. S-Curve moves reduce
jerk to provide a smooth profile.) Run an S-Curve profile and adjust velocity,
acceleration, deceleration, and jerk levels until the desired profile is obtained. For
instance:
1
On the Profile tab, click the S-Curve button.
2
Set up an S Curve profile by adjusting the following parameters to represent a typical
move under normal operation.
Trajectory Limits Tab
Parameter
Description
Maximum Velocity
Maximum speed of the profile.
Maximum Acceleration/
Deceleration
Maximum acceleration/deceleration of the profile. The deceleration is
set to be the same as acceleration.
Maximum Jerk
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.
Profile Tab
Distance
Increase the move distance to produce a complete trajectory profile.
Use an acceptable value the does not exceed mechanical limits of
the system.
Move
Relative
Type
S-Curve
3
Click Start.
4
Try multiple sets of profiles representing typical moves that might be executed in the
application. Starting with Set up an S Curve profile, repeat the process as needed.