Motion Profile -Reduced Jerk and Vibration – Without

Motion Controller

Using Simple PLC

1. OBJECTIVE AND MOTION PROFILE PLANNING

Jerk Limitation for a motion stage is important to supress transient
vibration and to reduce the
Settling Time. New Motion Profile Generation Approach to smooth
acceleration Profile which result in a smooth the acceleration
profile.
Frist, I show you image of acceleration, velocity, and
displacement

Now the question is can we create above motion profile using

simple PLC?
The answer is yes, but there are some difficulties, that we discuss
later.

2. PLC Programming and Trace

➢ Acceleration calculation

➢ Velocity Calculation
 ➢ Displacement calculation

3. Actual Trace- Cycle Time 1 ms

From this equation you can create some profile. But there is limitation of cycle time. I have taken
this trace or take trial with 1ms cycle time. Cycle time is very important

We all know to set 1 ms cycle time in Normal PLC is not possible. normally high-speed motion
controller has capacity to handle project within 1 ms.
Trace with 5ms Cycle time

3. Conclusion
Yes, we can create smooth profile using equation. Only requirement is PLC Cycle Time, and it must
be 1 or 2 ms. We can take simple plc instead of motion controller. It should not contain any logic
other than motion. Otherwise cycle time increases and profile is not smooth. One more benefit.
Have a machine or process that does not require high speed. For example, this solution is effective
where the cycle time of the process is 5 seconds or more.

4.REFERANCE
1. Research gate – (PDF) Motion profile planning for reduced jerk and vibration residuals
(researchgate.net)

2. Schneider Electric PLC + Servo Motor +Servo Drive+ So machine software