Motion Control Technology

Whenever you need an object at the right time in the right place, you need motion control. It's the control of position, speed, and acceleration of your moving axis. Since real objects are involved, ranging from precious liquids to live patients, motion control requires precision and reliability more than most other disciplines.

 

 

Motion Control Technology

Trinamic's motion control technology optimizes control of movement for your application. By regulating position, velocity, and acceleration of actuators like electric motors and their load, Trinamic's ramp generator offloads the MCU by taking care of pure motion control itself. Even for demanding applications moving multiple, synchronized axes, Trinamic's ramping profiles deliver the best performance for your motion control needs.

 

 

Why Use Ramping Profiles?

The simplest way to drive a load is by using a constant velocity. Since such a velocity mode has no defined acceleration phase, the theoretical acceleration value is infinite for an immediate constant velocity. However, both the system and load have a time-finite behavior that has to be accelerated to the required velocity. As a result, there are inconstant time delays for acceleration depending on the system and the load.

Because of the relationship between velocity and distance, precise positioning is not possible without making further adjustments. Even more, if the difference between target velocity and actual system velocity is too big, the motor may stall or overshoot.

Ramping profiles take the difference between theoretical velocity ramps and the real physical world into account. Depending on the use case, various ramping profiles are offered from trapezoidal to S-shaped ramping for handling precious liquids. Since ramping is embedded in Trinamic's motion control peripherals, they offload the processor while giving best-in-class performance - making motion control as easy as 1-2-3.

Trapezoidal Ramping

A trapezoidal ramp predicts the acceleration rates by using a constant gradient. This leads to a linear increase and decrease of the system's velocity, whereby one constant gradient rate is used for acceleration (aMAX) and one for deceleration (dMAX) to the maximum velocity (vMAX). With this constant gradient, the inconstant time delays can be calculated precisely and taken into account. For the great majority of positioning applications, linear ramping profiles are sufficient. Trinamic's motion controllers with linear ramping allow for fast and accurate positioning of one or several axes, offloading the MCU from demanding real-time tasks.


SixPoint™

By adding a freely configurable start/stop frequency to linear motion profiles, SixPoint ramping allows for faster positioning and mitigates the resonances caused by trapezoidal ramping. In addition, the velocity ramping profile adds a reduced acceleration value at high velocity, which reduces jerking at the end of standard acceleration ramps. Once the target position is reached, the motor waits TZEROWAIT clock cycles to make sure all oscillations are gone from the mechanical system. As such, Trinamic's advanced SixPoint ramping profile allows for faster positioning through additional acceleration segments.


S-Shaped Ramping

Especially when handling liquids or precious goods, it's important to have smooth motion control avoiding any resonances. To achieve this, a gradual change of the acceleration parameter (a) is needed. Such a gradual change, or bow parameter, reduces mechanical vibrations to a minimum by eliminating overshoot problems of the motor. Furthermore, high torque with high velocities can be reached by calibrating the bows of the velocity ramp, allowing you to optimize the profile according to your application. The resulting profile with continuous acceleration and deceleration reduces any sudden movement to make every drop count.