Anorad

Motion Profiles

a = v / t v 2 / 2s 2s / t 2 Anorad Motion Profiles
s = v x t / 2 v 2 / 2a a x t 2 / 2
t = v / a 2s / v v(2s / a)
v = a x t 2s / t v(2a x s)
Where: a = acceleration; s = distance; t = time; v = velocity
Notes: Acceleration (g) = 386/sec 2 = 32.2ft/sec 2 = 9.8m/sec 2 = 980cm/sec 2 = 9806mm/sec 2

 

Distance Exercise

Area under the profile 
= distance traveled 
= 1/2 (100/s x 1s) + (100/s x 1s) 
+ 1/2 (100/s x 1s) 
= 200 inches
Distance Exercise

Triangular Profile

Accel to speed and decel back to original speed or zero, rest and repeat the process as needed. e.g. Pick & Place.

Triangular Profile

Trapezoidal Profile

Accel to constant speed, travel at constant speed, and then decel back to original speed or zero. e.g. Scanning inspection

Trapezoidal Profile

S-Curve Profile

Accel to constant speed at a variable rate (first slow, then fast, then slow), travel at constant speed, and decel back to original speed or zero. e.g. Minimize Load Disturbances

S-Curve Profile

S-Curve Profile

Motion Profiles

Motion Profiles