Difference between revisions of "MC-Basic:element.PROFILERTYPE"

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* 3 - Constant velocity profile (one sample acceleration and one sample deceleration)
 
* 3 - Constant velocity profile (one sample acceleration and one sample deceleration)
  
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{{ PrfType_vs_SmoothFactor}}
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{{{!}}class="wikitable"
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{{!}}<big>'''ProfilerType'''</big>
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{{!}}Trapezoidal Velocity (prftype = 0)
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{{!}}Trapezoidal Acceleration (prftype = 2)
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{{!}}Sine Acceleration (prftype = 1)
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{{!}}-
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{{!}}<big>'''Position'''</big>
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{{!}}[[image:posi 0.PNG|300px]]
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{{!}}[[image:posi 2.PNG|300px]]
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{{!}}[[image:posi 1.PNG|300px]]
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{{!}}-
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{{!}}<big>'''Velocity'''</big>
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{{!}}[[image:velo 0.PNG|300px]]
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{{!}}[[image:velo 2.PNG|300px]]
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{{!}}[[image:velo 1.PNG|300px]]
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{{!}}-
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{{!}}<big>'''Acceleration'''</big>
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{{!}}[[image:acce 0.PNG|300px]]
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{{!}}[[image:acce 2.PNG|300px]] <br> {{!}}[[image:acce 22.PNG|300px]]
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{{!}}{{!}}[[image:acce 1.PNG|300px]] <br> {{!}}[[image:acce 11.PNG|300px]]
  
  
−
{{ PrfType_vs_SmoothFactor}}
 
  
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{{!}}}
 
|TYPE=
 
|TYPE=
 
Long
 
Long

Revision as of 12:28, 15 October 2017

Defines the profiler-type used in the motion:

  • -1 - profile type is defined by the SmoothFactor (from version 4.7.3 only)
  • 0 – Velocity based trapezoidal velocity (TV)
  • 1 – Velocity based sine acceleration (SA)
  • 2 – Time based trapezoidal acceleration (TA) or trapezoidal velocity (TV)
  • 3 - Constant velocity profile (one sample acceleration and one sample deceleration)


IMPORTANT.svgIMPORTANT
  • If MODAL value of the PrfType equals -1 (default from 4.7.3!) the SmoothFactor is the only one who determines the profile type.

Values of the SmoothFactor between [1,100] and the value of -1 define the SINE-ACCELERATION profile and value of zero the VELOCITY-TRAPEZE profile.

  • If MODAL value of PrfType differs from -1, SmoothFactor has no influence on the type of the profile. Still the SmoothFactor defines the JERK value (as before).


ProfilerType Trapezoidal Velocity (prftype = 0) Trapezoidal Acceleration (prftype = 2) Sine Acceleration (prftype = 1)
Position posi 0.PNG posi 2.PNG posi 1.PNG
Velocity velo 0.PNG velo 2.PNG velo 1.PNG
Acceleration acce 0.PNG acce 2.PNG
|acce 22.PNG 		acce 1.PNG
|acce 11.PNG


Short form

<element>.PrfType

Syntax

<element>.profilertype = <numeric expression>

Availability

Since Version 4.5.25

Type

Long

Range

-1 to 3

Default

-1 (from 4.7.3 version only)

Scope

Configuration, Task, Terminal

Limitations

Modal/Nodal

See Also

Retrieved from "http://softmc.servotronix.com/index.php?title=MC-Basic:element.PROFILERTYPE&oldid=131922"