34
Profile and Segment
Programming Example
The following example shows how to
program a simple motion. It could
represent a simple axis motion – move
to a position, dwell for 1 second and
return to a predetermined home position.
Figure 4-6. Single Axis Motion
The motion is easily implemented with a
two segment profile. Segment 1 starts
at rest, at zero position, and accelerates
at 100 in/sec
2
(.26g) to a Move Speed of
30 in/sec (1800 rpm). It then
decelerates to reach a final position at
30 in.
Segment 2 starts with a wait time of 1
sec, then moves at 40 in/sec to return to
zero. Acceleration and deceleration for
each axis is set at 100 in/sec
2
. Target
Velocity in each segment is zero.
Programming the Two Segment
Profile
Enter the Configuration Limits
(Reference Initial Set-Up section, page
##)
Suppose the actual mechanical motion
limits are minus 5 inches and plus 40
inches. It is generally best not to
program to the very last possible count,
as a mechanical motion that is blocked
short of programmed position can
develop very high forces. Let us choose
to set the Configuration mode Maximum
Position at 35.0 inches and the Minimum
Position at –4.5 inches.
Mechanical stops:
–5.0, +40.0
Configuration:
Maximum Position
35.0
Motion parameters:
Min. Position –4.5
Max. Velocity 50
Max. Acceleration
300 in/sec^2
Max. Deceleration
300 in/sec^2
Home Position 0
Initial Values
Max. Position
to be reduced
Error 30. in.
Max. In Position
Error 1.0 in.
Axis Event Condi-
tion Undefined
Jog Speed
1 in/sec
Go to PRG mode. Assume that no
programs have been saved. The
following screen should come up:
PROGRAM MODE
↑
NEW F1
AXIS[ 1]
AXIS
F2
PROGRAM#[ ]
<SEL F3
DOES NOT EXIST
↓
EDIT F4
Press NEW–F1.
PROGRAM MODE
←
F1
AXIS[ 1]
→
F2
F3
DOES NOT EXIST
F4
Enter program number (i.e. 10) and
press ‘ENTER’. The following screen
will appear:
PROGRAM MODE
↑
NEW F1
AXIS[ 1]
AXIS
F2
PROGRAM#[ 10 ]
<SEL F3
↓
EDIT F4
Press EDIT–F4. The following screen
will appear:
PROGRAM#[ 10 ]
QUIT
F1
F2
PROG PARAMETERS EDIT
F3
PROG SEGMENTS
EDIT
F4
For this example, the program
parameters can be the same as the axis
parameters, except that we will change
the acceleration and deceleration to 100
in/sec
2
.
Press ‘Program Parameters’ Edit–F3.
The following screen will appear:
PROGRAM#[ 10 ]
↑
QUIT F1
F2
AXIS
SAVE F3
[ 1]
↓
SEL
F4
Press Up/Down arrows until the
following screen appears:
PROGRAM#[ 10 ]
↑
QUIT F1
MAXIMUM
F2
ACCEL (IN/S^2)
SAVE F3
[300.0000 ]
↓
<EDT F4
Press <EDT–F4, ‘CLEAR ENTRY’, Enter
‘100’, press ‘ENTER’ then Save–F3.
The following screen will appear:
PROGRAM#[ 10 ]
↑
QUIT F1
MAXIMUM
F2
ACCEL (IN/S^2)
SAVE F3
[99.6799 ]
↓
<EDT F4
Important Reminder: The value used
by the controller depends on resolution
capability of the loop processor. The
controller responds to an entry with the
nearest exact value that it will run with;
e.g., with engineering units set at 1000
counts, entering an acceleration of
100.00 in/sec^2 results in an actual
value of 99.6799 in/sec^2.
Repeat above screen for deceleration of
100 in/sec^2.
Press Quit–F4 to get back to the
program screen. The following screen
will appear:
PROGRAM#[ 10 ]
↑
QUIT F1
F2
PROG PARAMETERS EDIT
F3
PROG SEGMENTS
↓
EDIT
F4
