AML Motor Home User Manual download pdf (Page 11)

Section 3

3.5 Acceleration profiles

Under program control, an exponential acceleration/retardation table is generated whenever the acceleration

command ( X ) is executed. This command defines the start/stop speed the slewing speed and the number of steps

in the acceleration/retardation profile. The first frequency in the table is the Start/Stop Speed, f

, subsequent

step frequencies, f

, are calculated by the formula:

Where:-

= step frequencies

n-1

= frequency of previous step (f

) or start speed if first step

= slewing speed

N = number of steps in the ramp.

The total time taken to accelerate to the Slewing Speed may be calculated iteratively.

___________________________________________________________________________________________

Example:

(X) command parameters = Start speed 100, Slew speed = 1000, Number of steps in ramp = 50

STEP 1

100

STEP 2

0.6 + 0.13*

+ =

1001000

100

= 226.76

SETP 3

0.6 + 0.13*

+ =

76.2261000

76.226

= 335.67

Step number

4-49

Frequency of step (Hz)

100.00

226.76

335.67

- - - -

999.47

Period of step (Sec)

0.01

4.410x10

-3

2.979x10

-3

- - - -

1.001x10

-3

Ramp time (Sec)

0.01

1.441x10

-2

1.739x10

-2

- - - -

7.066x10

-2

Total ramp time = 0.07066 seconds.

___________________________________________________________________________________________

The SMD210's processor may take several seconds to calculate this table. For this reason the acceleration command

( X ) should preferably be used only at the beginning of a program. In order to change the slewing speed within a

program the slew command ( T ) may be used. This causes the acceleration to terminate at a lower speed without

needing to recalculate the table. The acceleration parameters are restored to their default values when the

instrument is switched off or to manual control.

The current parameters may be examined with the V5 command. The parameters returned are those of the last X

command executed (which might not be the last command sent to the SMD210), or the default parameters.

0.6 + 0.13* N

f -

+f =

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