Bosch 6000 User's Guide download pdf (Page 162)

Chapter 5. Custom Profiling

147

S-Curve

avg

> 1/2 A

max

)

max

avg

max

avg

Pure S-Curve

avg

= 1/2 A

max

)

max

avg

max

avg

AD AD

• Once you enter an A

avg

value that is ≠ zero and satisfies 1/2 A

max

≤ A

avg

< A

max

, S-curve

profiling is enabled, but only in the operation that uses that particular A

avg

command.

For example, entering a HOMAA command enables S-curve acceleration profiling only for

homing moves, not for other functions such as jogging (which would require the JOGAA

command). To return to the default trapezoidal profiling mode, enter an A

avg

value of

zero, or set A

avg

= A

max

• If A

avg

= A

max

, a trapezoidal profile results, but can be changed to an S-curve by

specifying a new A

avg

value less than A

max

, or set A

max

greater than A

avg

• If A

avg

< 1/2 A

max

, or A

avg

> A

max

, when you try to initiate motion, the move will not

be executed and an error message, *INVALID CONDITIONS FOR S_CURVE

ACCELERATION—FIELD

, will be displayed.

• If A

avg

= zero or if you never enter an A

avg

command, the controller defaults to

trapezoidal profiling and the A

avg

command value will always match the A

max

command

value. However, if you enter an A

avg

deceleration of zero, you will receive the error

message *INVALID DATA—FIELD n, where n is the number of the data field.

• If you never enter the maximum (A

max

) or average (A

avg

) decel command values (AD or

ADA, HOMAD or HOMADA, etc.), the average decel value will always match, or track, the

average accel value (AA, HOMAA, etc.). However, once you change the maximum decel,

the average decel will no longer track the average accel.

• If you increase the A

avg

value above the

pure S-curve level (A

avg

> 1/2 A

max

the time required to reach the target

velocity and the target distance decreases;

however, increasing A

avg

also increases

jerk. After increasing A

avg

, you can

reduce the jerk by increasing A

max

(see

illustration); however, increasing A

max

requires a greater torque to achieve the

commanded velocity at the mid-point of

the acceleration profile.

➀ Original Profile

➁ After increasing A

avg

➂ After increasing A

max

• You can calculate the profile's accel/decel time with the following equations (calculation

method is identical for S-curve and trapezoidal):

Time of accel or decel =

Velocity

avg

or Time of accel or decel =

√

2 ∗ Distance

avg

• Accel/decel scaling (SCLA or PSCLA) affects A

avg

the same as it does for A

max

, regardless

of if the profile is trapezoidal or S-curve (see Scaling section in Chapter 3).

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Bosch 6000 User's Guide Page 162

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