The acceleration type specifies the shape of the acceleration profile used when changing velocities on an axis. The motion controller provides three major types of acceleration profiles:
-
Rectangular: This acceleration profile changes the velocity in the shortest amount of time. However, it also causes the largest amount of jerks to the axis.
-
Triangular: This acceleration profile takes the longest period of time to change the velocity (twice as long as the rectangular acceleration profile). However, it causes the smallest amount of jerk to the axis.
-
Trapezoidal: The trapezoidal profiles change velocity faster than the triangular but slower than the rectangular acceleration profile. The jerk on an axis is more significant than the triangular but less than the rectangular. There are three choices of trapezoidal acceleration profile, specified by how much longer than the rectangular profile each takes to finish changing the velocity:
The following table lists the various data values:
|
Acceleration type
|
Value
|
|
RECTANGULAR_ACCEL
|
0
|
|
TRIANGULAR_ACCEL
|
1
|
|
ACCEL_TRAP_125
|
2
|
|
ACCEL_TRAP_150
|
3
|
|
ACCEL_TRAP_175
|
4
|
