QBL4208_10 Datasheet, PDF (13/14 Pages) TRINAMIC Motion Control GmbH & Co. KG. – BLDC motor modules.

QBL4208 Manual (V1.03 / 2010-NOV-03)
13
6.3 Motor velocity
The motor velocity is also dictated by the configuration of the mechanical system that is coupled to
the motor shaft, and by the type of move that is to be affected. For example, a single velocity
application would require a motor with rated velocity equal to the average move velocity. A point to
point positioning would require a motor with a rated velocity higher than the average move velocity.
(The higher velocity would account for acceleration, deceleration and run times of the motion profile).
Figure 6.1: Trapezoidal move and triangular move relates rated motor velocity to average move
velocity for two point to point positioning move profiles.
Trapezoidal move
Vmax
Triangular move
Vmax
(1/4)D
(1/2)D
(1/4)D
t1
t2
t3
t4
For acceleration portion of curve:
(1/2)D
(1/2)D
t1
t3
t4
For acceleration portion of curve:
For entire move:
For entire move:
Example:
Example:
ω_max rated operating speed of motor RPM
ω_trap average speed of motor required for a specified trapezoidal move, RPM
ω_tri average speed of motor required for a specified triangular move, RPM
D
total distance traveled, motor shaft revolutions
t₁
acceleration time, seconds
t₂
run time, seconds
t₃
deceleration time, seconds
t₄
dwell time, seconds
Figure 6.1: Trapezoidal move and triangular move
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG