Velocity Adjustment from Extra Pulses

When the profile shape is calculated, there will often be extra pulses that do not fit into the profile shape. Normally, these extra pulses are redistributed by slightly reducing the velocity from the specified value. This velocity reduction is typically zero or extremely small. However, it may be significant enough to negatively affect the performance for applications which use types of motion commands that are prone to exhibiting this effect and for which the accuracy of the velocity is critical.

In these cases, the Jerk Ratio Fixed Velocity T, Jerk Ratio Fixed Velocity S, Jerk-Limited Fixed Velocity T, or Jerk-Limited Fixed Velocity S profile types should be used. These profile types will not reduce the velocity from the specified value, and instead reallocate the extra pulses to the acceleration and deceleration segments.

Alternatively, the Cycle Time Independent Profiles should be used. These profile types will not reduce the velocity from the specified value.