Motion profiles

Any motion along an axis or around an axis (joint axis, Cartesian axis, or path axis) requires a defined motion profile. The following figure shows which parameters you can use to define the motion profile when using this software module.

vmax	Maximum permitted speed for the motion task
a	Maximum permitted acceleration for the motion task
y	Jerk (rate of change of acceleration)

v_max is not reached in the following cases (no constant travel):

• a is extremely low compared to v_max
• j is extremely low compared to a
• The distance to be covered is extremely short

In these cases, the travel diagram above is simplified to a jerk-limited triangular profile. Accordingly, it is also possible that acceleration or deceleration will not be achieved (no section with constant acceleration).

INFORMATION

– The jerk limitation increases the time required for a given distance.

– In addition to these bases, there are other factors and underlying conditions that may influence the actual travel diagram. The travel diagram above is only used to explain the principle of the relevant motion parameters.