MC-Basic:element.PROFILERTYPE

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

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
Velocity
Acceleration		|	|

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

• Time Based Profile