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4 Functional Description
4.1 Position control
Complex motion profiles
Complicated motion profiles can be generated through appropriate presetting of new values (maxi-
mum speed, acceleration, end position) during positioning. After a value change, simply execute a
new motion start command (M). The commands NP and NV can be used to control the sequence.
Example:
Sequence (respective command sequences after receipt of the Notify condition):
Start:
a.)
b.)
c.)
d.)
LA[POS3]
AC[AC2]
AC[AC1]
SP[SP2]
DEC[DEC4]
AC[AC1]
NV[V2]
NP[POS1]
DEC[DEC3]
NP[POS3]
SP[SP1]
M
M
NP[POS2]
M
NV[V1]
M
M
The following diagram shows the described sequence.
Example of complex motion profile in comparison with trapezoidal profile:
Velocity
SP1
V2
V1
SP2
POS1
POS2
POS3
a.)
b.)
c.)
d.)
AC1
DEC3
DEC4
Comparison:
trapezoid profile
Composed profile
Time
AC2
