S-curve and Trapezoidal Acceleration / Deceleration
S-curve
If the Jerk
In physics, jerk is the rate of change of acceleration.
More precisely, the derivative of acceleration with respect to time. input of a motion function block A function block groups an algorithm and a set of private data.
It has inputs and outputs. is non-zero, S-curve acceleration 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) / deceleration is used.
- The Acceleration input specifies the maximum acceleration / deceleration reached during changes in velocity 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.
- The Deceleration input is unused.
Small Jerk Acceleration
The Figure: "Small Jerk Acceleration" is a velocity plot of the acceleration of a move when Jerk is a small value.
The smaller the Jerk value, the more gradual the rate of change of acceleration / deceleration when transitioning from one velocity to another.
Figure 1: Small Jerk Acceleration
Large Jerk Acceleration
This Figure: "Large Jerk Acceleration" is a velocity plot of the acceleration of a move when Jerk is a large value.
The larger the Jerk value, the more abrupt the rate of change of acceleration / deceleration when transitioning from one velocity to another.
Figure 2: Large Jerk Acceleration
Trapezoidal
If the Jerk input of a motion 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. block is zero, trapezoidal acceleration / deceleration is used.
- The Acceleration input specifies the linear acceleration rate.
- The Deceleration input specifies the linear deceleration rate.
This Figure: "Trapezoidal Acceleration" is a velocity plot of the acceleration of a move when trapezoidal acceleration is used (Jerk = 0 (zero)).
