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42 Operation Theory

There are several parameters that need to be set in order to make

a S-curve move. They are:

X Pos: target position in absolute mode, in units of pulses

X Dist: moving distance in relative mode, in units of pulses

X StrVel: start velocity, in units of PPS

X MaxVel: maximum velocity, in units of PPS

X Tacc: time for acceleration (StrVel -> MaxVel), in units of

seconds

X Tdec: time for deceleration (MaxVel -> StrVel), in units of

seconds

X VSacc: S-curve region during acceleration, in units of PPS

X VSdec: S-curve region during deceleration, in units of PPS

Figure 4-9: S-curve Profile Motion

Normally, the accel/decel period consists of three regions, two

VSacc/VSdec curves and one linear. During VSacc/VSdec, the

jerk (second derivative of velocity) is constant, and, during the lin-

ear region, the acceleration (first derivative of velocity) is constant.

In the first constant jerk region during acceleration, the velocity

goes from StrVel to (StrVel + VSacc). In the second constant jerk

region during acceleration, the velocity goes from (MaxVel –

StrVel) to MaxVel. Between them, the linear region accelerates

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