Cam Profile Segment Overview
Line Segment Type
Segment Curve |
Jerk |
||
---|---|---|---|
Supported by |
KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment Profile Editor |
Continuous Velocity |
|
Continuous Acceleration |
|
Interpolation Method |
Linear function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.: f(x) = Ax + B |
Advantages |
This segment type easily defines constant-velocity segments. It can be used in very large numbers to define profiles of any size without having to specify the velocity or acceleration at the segment endpoints. |
Disadvantages |
Profiles can result in discontinuous velocities. |
Parabolic Segment Type
Segment Curve |
Velocity |
Acceleration |
Jerk |
---|---|---|---|
In the example:
- The blue line represents the linear (constant velocity) part of the segment.
- The black lines represent the parabolic (constant acceleration) parts of the segment.
Point Segment Type
Segment Curve |
Velocity |
Acceleration |
Jerk |
---|---|---|---|
Supported by |
KAS-IDE Profile Editor MLProfileBuild (default option) |
Continuous Velocity |
|
Continuous Acceleration |
|
Interpolation Method |
5th order polynomial: f(x) = Ax5 + Bx4 + Cx3 + Dx2 + Ex + F |
Advantages |
With only a few segments, this type can be used to define profiles with continuously changing accelerations. Example: Sinusoidal profiles can be emulated with 6 to 12 point segments. |
Disadvantages |
Specify the velocity and acceleration at the endpoints for each segment. It is difficult to use the point segment type to define constant acceleration or constant velocity segments. |
Spline Segment Type
Segment Curve |
Velocity |
Acceleration |
Jerk |
---|---|---|---|
Supported by |
KAS-IDE Profile Import. The points are created by separate software and is imported into KAS-IDE project. |
Continuous Velocity |
|
Continuous Acceleration |
|
Interpolation Method |
3rd order polynomial: f(x) = Ax3 + Bx2 + Cx + D |
Advantages |
With only a few segments, this segment type can be used to define profiles with continuously changing velocities. Only the positions Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. of the master and slave need to be specified. This produces smoother profiles than using line segments. |
Disadvantages |
Since only positions are specified, the user has less control over the velocities and accelerations that occur throughout the profile. |