Danaher Motion B8961, Operator'S Manual

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Chapter 6 - IDeal ™ Command Reference
Where n is the current DC command distance (n=19 in this example), n-1 is the
previous DC command distance (e.g.10), V is the velocity, and t is acceleration
time (for the first DC specified in a move profile, n-1 would correspond to the
beginning of the move).
In the following move profile,AC units = seconds,VE units = RPS (see illustration):
AC1.6 DE0.8 VE5 DA20 DC10 AC2.5 VE3 DC? VE2.5 GO
Using the DC formula and solving for DCn, therefore,
the “?” must be greater than or equal to a position of 12.5 distance units.In addition
to verifying the DC trigger position,it must also be verified that the DC? VE2.5 seg-
ment can be completed before the beginning of the move deceleration.Suppose
the “?” was chosen to be 13.35 (a valid trigger position),use the beginning of the
decel ramp as the DCn in the DC formula.A deceleration from 2.5 to 0 requires 1
distance unit in 0.8 seconds therefore, Since
the result is positive,the DC13.35 VE2.5 is a valid segment.
Examples of DC move profiles:
AC.05 DE.05 VE10 DA4 DC1 OT100 DC2 OT010 DC3 OT001 GO
While moving to an absolute position of 4 units turn on output 1 at 1 unit,output
2 at 2 units and output 3 at 3 units.
AC.05 DE.09 VE30 DA6 DC3VE15 GO
Move to absolute position 6 units with a starting speed of 30.At 3 units, reduce
speed to 15 (change-on-fly) and complete move.
AC1 DE.5 VE20 DI-8 DC1 OT10 DC3 OT01 GO
Move an incremental distance of
negativ e 8 units.After 1 unit,turn on output 1,
and after 3 additional units of motion,turn off output 1 and turn on output 2.
AC.05 DE.15 VE50 DI15 DC5VE10 DC5VE5 GO
At a starting speed of 50,begin moving an incremental distance of 15 units.After 5
units, ramp down to 10 speed.After an
additional 5 distance units, ramp down to
5 speed and continue until the final position is reached.
AC.1,.1 VE10,20 DI10,10 DC5,5VE20,10 GO
Move an incremental distance of 10 units on axis 1 and 2.After 5 units on axis 1,
ramp up to a speed 20;after 5 units on axis 2, ramp down to speed 10.Note that
these velocity changes both take place after 5 distance units,but they do not take
place at the same time.