Cam Profile Segment Overview

Line Segment Type

Segment Curve

VelocityClosed For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP

AccelerationClosed A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)

Jerk

Supported by

KAS-IDEClosed Kollmorgen Automation Suite - Integrated Development Environment Profile Editor

MLProfileBuild

Continuous Velocity

Continuous Acceleration

Interpolation Method

Linear functionClosed 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.

Supported by

KASClosed Kollmorgen Automation Suite-IDEClosed Integrated Development Environment - An type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger. Profile Editor

MLProfileBuild (parabolic option)

Continuous Velocity

Continuous Acceleration

Interpolation Method

Linear function: f(x) = Ax + B
2nd order polynomial: f(x) = Cx2 + Dx + E

Advantages

This segment type is used to define constant acceleration portions of a profile.

This minimizes the peak acceleration needed to move from one cam point to another.

This can be useful when the motorsClosed An actuator focused to a movement, converting electrical energy in a force or torque. cannot support the accelerations used by other segment types.

Disadvantages

Acceleration is discontinuous which can lead to additional electrical stress on the drivesClosed In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. and motors.

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 positionsClosed 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.