Simple Method to Handle Asymmetrical Profiles of Stepper Motors
Original Publication Date: 1989-Feb-01
Included in the Prior Art Database: 2005-Jan-27
Disclosed is a software method to handle an asymmetrical velocity profile for stepper motors. Unlike symmetrical velocity profiles, asymmetrical velocity profiles are more difficult to handle, especially in short moves where the control software must decelerate the motor while the motor is in acceleration mode. The method described below provides a simple way to handle any asymmetrical velocity profiles. Because of the nature of the profiles, the control software needs two velocity profile tables. One is for acceleration and the other is for deceleration. As illustrated in the tables, each entry of the acceleration table contains an acceleration step time (AST) and its associated deceleration step (DS).