Parker Hannifin
What are Motion Profiles?
To make motion, the user must define the motion profile. The
acceleration, deceleration, stop ramps, velocity, and distance
(ACC, DEC, STP, VEL, and MOV commands, respectively) set the
motion profile values.
• Acceleration: The ACC (Set Acceleration Ramp) command
sets the master acceleration. The master acceleration is used
to ramp from lower to higher speeds. The value is in units per
second
2
.
• Velocity: The VEL (Set Target Velocity for a Move) command
sets the target velocity for subsequent moves. The value is in
units per second.
• Deceleration: The DEC (Set Deceleration Ramp) command sets
the deceleration used to ramp from higher to lower speeds.
The value is in units per second
2
.
The deceleration ramp is only used when the stop ramp is zero.
Use the DEC ramp to blend moves.
• Stop: Use the STP (Set Stop Ramp) command to set the master
deceleration ramp used at the end of the next move. The
value is in units per second
2
.
When the stop ramp is set to zero, the move ends without
ramping down. This allows you to merge back-to-back moves.
The final velocity of the first move becomes the initial velocity
of the second move.
Motion profiles can be graphically represented. The following
illustrates the ACC, DEC, and STP values as a typical trapezoidal
motion profile.
All motion profile values are entered in user-based units (inches,
millimeters, degrees, revolutions, or other units). Use the PPU (Set Axis
Pulse per Unit Ratio) command to relate the feedback pulse to the
unit of measure. (The PPU command sets the ratio of pulses per
programming unit.) The controller computes the motion trajectory
from the motion profile data.
Making Motion 53
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