AOI_Smooth_Motion_Profile_PhysicalLimitsAOI_Smooth_Motion_Profile_PhysicalLimits_ENVIP

Haiqiang XU使用手册 | AOI_Smooth_Motion_Profile_PhysicalLimitsAOI_Smooth_Motion_Profile_PhysicalLimits功能描述: This AOI (Add-On-Instruction) will generate a smooth motion cam profile from the given move distance and physical limits which are maximum velocity, maximum acceleration and maximum jerk. The master axis of the smooth motion cam profile is move time and the slave axis is move distance. The move time is calculated by the AOI according to giving conditions. This AOI can be used with MATC, in this way, It works similar with MAM.Compared to the trapezoidal velocity motion profile, the smooth motion profile is very beneficial to machine dynamics. The smooth motion profile generated by this AOI can be infinitely differentiated and Jerk continuous. Since this smooth motion profile has less shock, it can increase the service life of mechanical components and improve product quality (such as tension stability). However, the maximum acceleration and the maximum speed of the smooth motion profile, may be higher than the trapezoidal speed curve. Maximum speed / maximum acceleration may even exceeds the range of capabilities that the electromechanical system can output or the working range that can be withstoodMotor output capability range:Peak torque maximum acceleration of the motion profileMaximum speed maximum speed of motion profile Mechanical transmission working range:Production process fastest speed limitReducer input shaft maximum speed limitReducer input shaft maximum torque limitMaximum torque limit for the most flexible components of the drive train The Max. Vel, Max. Acc and Max. Jerk can be set into the AOI so as to meet the electromechanical system output capability requirements. Example 1, the AOI generator a motion profile which meet the restrictions of move distance= 1 unit, max. move speed = 2 units/s, max. acceleration = 8 units/s2, max. jerk = 64 units/s3. Example 2, the AOI generator a motion profile which meet the restrictions of move distance= -2.5 units, max. move speed = 1.6 units/s, max. acceleration = 20 units/s2, max. jerk = 40 units/s3. Example 3, the AOI generator a motion profile which meet the restrictions of move distance= 1.0 units, max. move speed = 1.6 units/s, max. acceleration = 2 units/s2, max. jerk = 20 units/s3. Dependent UDTs: Cam_Smooth_MotionProfile- contains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE150.Ladder Instruction: Function Block Instruction: Structured Text Instruction:AOI_Smooth_MotionProfile_PhysicalLimits(AOI_Smooth_MotionProfile_PhysicalLimits,Position,Speed,Accel_Decel_Rate,Accel_Decel_Jerk,Cam_Smooth_MotionProfile);Parameters:NameData TypeReq?UsageAcceptable ValuesDescriptionAOI_Smooth_MAM_1AOI_Smooth_MotionProfile_PhysicalLimitsYInOutThis is the AOI control tag.EnableInBOOLInputEnableOutBOOLOutputPositionREALYInputMove distance, incrementally, unitsVelocityREALYInput 0Max. move velocity，units/sAccel_Decel_RateREALYInput 0Max. acceleration，units/s2Accel_Decel_JerkREALYInput0Max. jerk，units/s3Cam_Smooth_MotionProfileCAM_PROFILE150YInOutContains the calculated CAM_PROFILE array, and the data type is CAM_PROFILE150 .Typical Instruction UseThis ins