On Dec 13, 2011, at 1:17 PM, Peter C. Wallace wrote: > A cubic profile > > Currently EMC uses a trapezoidal (linear) velocity profile (so parabolic > position profile) This means the acceleration profile is a step function. The > beginning of this step is whats hard to tune around (as you have found) > > Jerk is the derivative of acceleration so is infinite with stepped > acceleration (the current situation with EMC). By using a cubic profile where > the acceleration is ramped (like velocity is now) starts and stops are much > "gentler" and contain less high frequency components that make it hard to tune
Thanks Peter. And how/where does one set this as the velocity profile? Tom ------------------------------------------------------------------------------ Systems Optimization Self Assessment Improve efficiency and utilization of IT resources. Drive out cost and improve service delivery. Take 5 minutes to use this Systems Optimization Self Assessment. http://www.accelacomm.com/jaw/sdnl/114/51450054/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
