We use the Ramp Motion-Law to add a Cycloidal-CV50.

The Cycloidal-CV50 has three phases:

•Phase 1: Acceleration : first ½ wave of a Sine function : 25% of the Segment-Width.

•Phase 2: Zero Acceleration : Constant Velocity : 50% of the Segment-Width.

•Phase 3: Deceleration : last ½ wave of a Sine function : 25% of the Segment Width

A motion with continuous Velocity and Acceleration, from start to end, The Jerk is finite at its start and end.

Its peak Acceleration is quite high, but its peak Velocity is quite low.

Start Position

The Start-Position usually flows from the End-Position of the Previous-Segment.

End Position

Start Velocity & End Velocity

Start Acceleration & End Acceleration

Start Jerk & End Jerk

Start-Fraction × 100 = % of Segment-Width

End-Fraction × 100 = % of Segment-Width

Start-Range

End- Range

0 ≤ Start-Range < End-Range ≤ 1

Velocity Coefficient :

Acceleration Coefficient :

Jerk Coefficient :

Jerk at Cross-over :

Dynamic Performance

This Motion-Law is recommended in applications where you need the peak velocity to be low when compared to others.

It has a large Peak Acceleration, with a short duration, thus more likely to induce vibrations.

Pressure Angle Considerations

It gives a relatively low pressure angle - because of its low peak velocity.

Drive Torques

This Motion-Law is not recommended in many applications as it will give a sudden change in torque. The input transmission rigidity would need to be high.