Profiler in profile velocity
The profile velocity profiler is implemented according to the following structure:
Actual velocity and motor speed are compared against its mechanical limits, to avoid damaging the mechanical parts for driving the actuator out of the allowed mechanical range. Target velocity, taking into account polarity, is limited by the system limits, and the internal target velocity is obtained. On the other hand, profile parameters such as acceleration/deceleration, both normal and quick-stop,are compared against their limits. At last, the actual velocity demand is calculated through the previous magnitudes.