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I use an axis group with two linear axes in a kinematic system. Using MC_MoveLinearAbsolute and MC_MoveLinearRelative, I am trying to realise dynamic movements (set velocity: 1 m/s, set acceleration: 30 m/s^2) with the highest possible jerk, as I want to compare this with a movement with a trapezoidal velocity profile. However, my measurements show that the axes accelerate with a maximum jerk of approx. 800 m/s^3, even if the value in the function block was set to 10,000 m/s^3.
I have already increased the dynamic limits of the two axes accordingly (Velocity: 5000 u/s, Acc-/Deceleration: 250'000 u/s^2, Jerk: 100'000'000 u/s^3, where 1 u = 1 mm), but this had no effect.
I have checked the input parameters of the function blocks and the VelFactor, AccFactor and JerkFactor factors are all set to the maximum (value 1).
Reducing the cycle time has resulted in a higher jerk, but as we are already working with a cycle time of 1 ms, there is nothing more that can be done here.
The axes themselves are still a long way from drawing the maximum current, which is why I assume that this should not be a problem either.
Are there other factors or parameters that influence the dynamic limits and therefore allow faster movements?
The PLC I am using is a Raspberry Pi 4 and Codesys V3.5 SP20 with all libraries up to date.
Hello all
I use an axis group with two linear axes in a kinematic system. Using
MC_MoveLinearAbsoluteandMC_MoveLinearRelative, I am trying to realise dynamic movements (set velocity: 1 m/s, set acceleration: 30 m/s^2) with the highest possible jerk, as I want to compare this with a movement with a trapezoidal velocity profile. However, my measurements show that the axes accelerate with a maximum jerk of approx. 800 m/s^3, even if the value in the function block was set to 10,000 m/s^3.I have already increased the dynamic limits of the two axes accordingly (Velocity: 5000 u/s, Acc-/Deceleration: 250'000 u/s^2, Jerk: 100'000'000 u/s^3, where 1 u = 1 mm), but this had no effect.
I have checked the input parameters of the function blocks and the
VelFactor,AccFactorandJerkFactorfactors are all set to the maximum (value 1).Reducing the cycle time has resulted in a higher jerk, but as we are already working with a cycle time of 1 ms, there is nothing more that can be done here.
The axes themselves are still a long way from drawing the maximum current, which is why I assume that this should not be a problem either.
Are there other factors or parameters that influence the dynamic limits and therefore allow faster movements?
The PLC I am using is a Raspberry Pi 4 and Codesys V3.5 SP20 with all libraries up to date.
Thanks in advance
Manuel