In the speed profile, the load/motor is controlled in speed. The built-in reference generator computes a speed profile with a trapezoidal shape, due to a limited acceleration. You specify the jog speed (speed sign specifies the direction) and the acceleration/deceleration rate. The load/motor accelerates until the jog speed is reached. During motion, you can change on the fly the slew speed and/or the acceleration/deceleration rate. The motion will continue until a STOP command. An alternate way to stop motion is to set the jog speed to zero.
Speed profile with trapezoidal shape
Remark: The motion mode and its parameters become effective after the execution of the update command UPD. Changes of the slew speed and/or acceleration/deceleration rate also become effective at next update command.
You can switch at any moment, including during motion, from another motion mode to the trapezoidal speed profile. This operation is possible due to the target update mode 0 TUM0 which is automatically activated when a new motion mode is set.
Once set, the motion parameters are memorized. If you intend to use the same values as previously defined for the acceleration rate and the jog speed, you don’t need to set their values again in the following trapezoidal profiles.
See also:
Trapezoidal Speed Profiles – Related TML Instructions and Data