AMCI SMD17K, User Manual

Page: 33 / 98

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SMD17K User Manual
M
OTION
C
ONTROL
33
Assembled Moves (continued)
Blend Move
Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program-
ming Blend Moves.
1)All segments of the Blend Move must be written to the unit before the move can be initiated.

The SMD17K supports Blend Moves with up to sixteen segments.
2)Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute
coordinates.
3)All segments run in the same direction. The sign of the target position is ignored and only the
magnitude of the target position is used. The move’s direction is controlled by the bit pattern used to
start the move. If you want to reverse direction during your move, consider using the
Dwell Move
which is explained starting on page 34.
4)The Programmed Speed of each segment must be greater than or equal to the Starting Speed.
5)The Programmed Speed can be the same between segments. This allows you to chain two segments
together.
6)For all segments except for the last one, the programmed position defines the end of the segment. For
the last segment, the programmed position defines the end of the move.
7)Once you enter a segment, that segment’s programmed acceleration and deceleration values are used
to change the speed of the motor.
8)The blend segment must be long enough for the acceleration or deceleration portions of the segment
to occur. If the segment is not long enough, the motor speed will jump to the speed of the next
segment without acceleration or deceleration.
The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direc-
tion, and then in the counter-clockwise direction.
The deceleration value programmed with segment 3 is used twice in the segment. Once to
decelerate from the Programmed Speed of segment 2 and once again to decelerate at the end of
the move.
Figure R2.11 Blend Move
CW
CCW
a
1
a
1
a
2
a
2
d
3
d
3
d
3
d
3