Intelligent Motion Control and Machine Vision Trapezoidal and S-Curve Profiles Users can issue commands to configure movement profiles (initial speed, acceleration, deceleration, maximum speed and acceleration onset rate (or called jerk which is for S-–speed-curve movement)) and control a motor to move based on predefined speed curves such as the trapezoidal curve or S-curve (second degree curve). Homing SoftMotion supports more than 10 homing modes to fit into the mechanical design. Programmable Acceleration and Deceleration Programmable to define the rate of acceleration and deceleration and configure acceleration curve profile (the initial speed, maximum speed, acceleration, deceleration, Jerk) that best meets user needs. Acceleration and deceleration rates can be set independently to ensure the movement better & smooth! JOG Move Manually control the axis to directly move within a fixed (predefined) amount of position or continuously in the +/- direction along all axes via external signals; with this feature, users can manually control the movement while reducing CPU loading without consuming system resource. Handwheel Move Use a handwheel to control a motor to rotate positively or negatively; also, users can define parameters for or use external handwheels to control axial movement. EXOP+ EXOP- nP- nP+ A for CW for CCW CW out CCW out B A B n pulse n pulse n pulse n pulse n pulse no effective no effective P=400000 P=100000 Symmetric T-Curve Acc. and Dec. Profile Symmetric S-Curve Acc and Dec Profile Auto Dec. Manually dec. Fast Acc. Slow Dec. Rapid Deceleration Slow Acceleration Asymmetric S-Curve Acc. and Dec. Profile Asymmetric T-Curve Acc. and Dec. Profile V V V Time Time Time Time P=200000 P=50000 Time Speed p(t) 1 1 2/3 2/3 1/3 1/3 Initial Speed at 2 MODE1_Abs: Limited to using ORG only, movement (direction) à ORG trigger à stop Example: Positive direction; ORG logic: trigger on a high voltage level MODE2_Lmt: Limited to using EL only, movement (direction) à EL trigger à stop Example: Positive direction; EL logic: trigger on high voltage level MODE3_Ref: Limited to using EZ only, movement (direction) à EZ trigger à stop Example: Positive direction; EZ logic: trigger on high voltage level STATUS1 STATUS2 Off - + - + Off On ORG Off Off On ORG Off Off On EL/ORG STATUS1 - + Off Off On EL- Off Off On EL+ STATUS2 - + Off Off On EL- Off Off On EL+ STATUS2 - + Off Off On EZ Off Off On EZ STATUS1 - + Off Off On EZ Off Off On EZ SoftMotion Introduction SoftMotion Features Chapter 2 Table of Contents Table of Contents