Profiles

This interface defines the profile that is used for the multi-segment movements in FB_Ptp. The interface works as a selection function that is activated by setting one of the properties. The previously set choice is automatically reset.

INTERFACE I_PtpProfileType

7-phase profile (SevenPhase):

The 7-phase profile corresponds to the standard profile of the TwinCAT NC axes. It consists of a jerk-limited acceleration phase (1), which is followed by a constant acceleration (2) and a jerk-limited reduction of the acceleration (3) to a constant velocity (4). If blending takes place, the following segment begins with its first phase from this section. Otherwise, the deceleration is started with a limited jerk (5), changes to a constant deceleration (6) and is finally reduced again with a limited jerk (7) until it comes to a standstill at the end point. The following illustration shows a sequence with blending of two segments.

Sine profile (Sine):

The sine profile is available as an alternative profile for the phase-based profiles. Instead of multiple phases, the velocity of the sine movement consists of a harmonic sine curve. The velocity and acceleration of the segment are taken into account as limiting factors so that the vertex is not higher than the specified velocity and the maximum gradient is not higher than the specified acceleration.

Currently no blending with sine profile possible The sine profile does not currently support blending. However, multi-segment movements can be buffered (Buffered).

3-phase profile (ThreePhase):

The 3-phase profile differs from the 7-phase profile only in that the jerk-limited phases are omitted. In the case of a hydraulic axis, this is supplemented by a creep phase (a fourth phase) (see also iTcMc_ProfileCtrlBased).