AXY:MC-Basic:axis.PROFILERTYPE

Defines the profiler-type used in the motion:
-1 – Profile type is defined by the SmoothFactor
0 – Velocity based velocity trapeze (VT)
1 – Velocity based sine acceleration (SA)
2 – Time based trapeze acceleration (TA) or velocity trapeze (VT)
3 – Constant velocity profile (one sample acceleration and one sample deceleration)

IMPORTANT

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).

Short form

PrfType

Syntax

<axis>.profilertype = <numeric expression>

Availability

Since Version 4.5.25

Type

Long

Range

-1 to 3

Default

-1

Scope

Configuration, Task, Terminal

Limitations

Modal/Nodal