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S Curve Tutorial1 PDF
S Curve Tutorial1 PDF
com 06/08/2003
S-CURVE
DOCUMENTATION AND TUTORIAL FOR THE
S-CURVE ON THE COOL MUSCLE
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
1. INTRODUCTION
The s-curve function allows the user to define a smooth response yet still
maintain a high acceleration. In many applications the ideal step response is
not one where the maximum speed is reached instantaneously. The jarring
effect of high acceleration and deceleration can damage the application, yet a
slow acceleration can slow down production dramatically. In these
applications the ideal step response is to have a slow initial acceleration,
leading into a high acceleration to a low deceleration to the required speed.
The resultant speed curve is what is known as an s-curve.
Step Response
250
200
pulses/second
150
S-Curve
100 Acceleration
High Aceleration
50
Low Acceleration
0
0.0 0.1 0.2 0.3
seconds
Page 2
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
Calculated Speed
250
200
pulses/second
150 K69=0
K69=512
100 K69=1024
50
0
0.000 0.200 0.400 0.600
seconds
Page 3
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
3. S-CURVE TUTORIAL
• K66=1
• K67=15
Though in theory the more points the more accurate the curve generated
we don’t want to overload the Cool Muscle with communication.
Communication has the highest interrupt priority and can disrupt motion if
used to frequently.
Page 4
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
• a=100
• s=200
• p=7000
Page 5
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
Calculated Speed
250
200
pulses/second
150 K69=0
K69=512
100 K69=1024
50
0
0.000 0.200 0.400 0.600
seconds
Page 6
MyoStat Motion Control http://www.coolmuscle.com 06/08/2003
Real Speed
250
200
pulses/second
150 K69=0
K69=512
100 K69=1024
50
0
0.000 0.200 0.400 0.600
seconds
Page 7