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Motion control
Timing
v
0.5
0.4
0.3
0.2
0.1
0.0
- - 0.1
- - 0.2
0
0.2
a
0.5
0.4
0.3
0.2
0.1
0.0
- - 0.1
- - 0.2
0
0.2
1.0
j
0.5
0.0
- - 0.5
- - 1.0
0
0.2
Fig. 46 Timing graph of velocity mode (example)
Name
v
a
j
Tab. 190 Legend for timing graph of velocity mode
4.1.4.2
CiA 402
The following graphs show an overview of the objects involved in the velocity mode and their interac-
tion with the trajectory generator:
216
0.4
0.6
0.4
0.6
0.4
0.6
Description
Speed
Acceleration
Jerk
0.8
1
0.8
1
0.8
1
Festo — CMMT-ST-SW — 2019-02
1.2
1.4
1.2
1.4
1.2
1.4
1.6
1.6
1.6
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