Tune an S-Curve Profile

Use this procedure to balance the smoothness and cycle time of motion that uses an S-curve profile.
When to Do This Procedure
Do this procedure when you want to decrease the cycle time of an S-curve motion profile, but keep some of the profile’s smoothness.
Jerk 100 percent Time Cropped new02
big right arrow
Jerk 50 percent Time new
To use this procedure, your application must meet these requirements.
  • The controller is at revision 16 or later.
  • One of these instructions produces the motion.
    • Motion Axis Move (MAM)
    • Motion Axis Jog (MAJ)
    • Motion Axis Stop (MAS)
  • The instruction uses an S-curve profile.
To tune an s-curve profile
NOTE:
In this procedure, you increase the jerk. This increases the stress on the equipment and load. Make sure you can identify when the equipment or load has reached its jerk limit.
  1. Are the Jerk Units set to % of Time?
    If the Jerk Units Are
    Then
    % of Time
    arrow_right (2) Jerk in Percent Time (2)
    Continue with step 2.
    % of Maximum
    arrow_right (2) Jerk in Percent Max
    A. Change the Jerk Units to % of Time
    Jerk in Percent Time (2)
    Units per sec3
    arrow_right (2) Jerk in Units per S3
    B. Continue with step 2.
  2. Set the Jerk values to 50% of Time.
    Example:
    TuneSCurve_Pg512_MotionInstr_v31
  3. Test your equipment and observe its jerk.
  4. Adjust the jerk values.
    If There Is
    Then
    Which Results In
    NOT too much jerk
    Reduce the % of Time
    Jerk 20 percent Time new
    Too much jerk
    Increase the % of Time
    Jerk 80 percent Time new
  5. Repeat steps 3 and 4 until you have the desired balance between smoothness and cycle time.
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