Single-Axis Motion
06/2005
Danaher Motion
3.
PFINAL
of the succeeding move must be far enough in front of
PFINAL
of the current move that the profile is possible with the
acceleration limits. The generated profile always reaches the target
position. If the acceleration and smooth limitations prevent attaining the
required final velocity, the motion is terminated with the final velocity as
close as possible to the required value.
You can change the end position or velocity of a move that is in progress.
You do this by setting STARTTYPE = IMMED and issuing the second move.
For example, if you want to issue a move, wait a few seconds, change the
end position without changing the velocity. For this, you would write:
CutAxis.StartType = Immed
CutAxis.Absolute = On
Move CutAxis 150
Sleep 3000
Move CutAxis 100
This generates the profile shown below.
As a second example, if you wanted to change the cruise velocity without
changing the end-position, you would write:
CutAxis.StartType = IMMED
Move CutAxis 150
Sleep 3000
Move CutAxis 150 VCruise = 1500
You can change the final position, cruise velocity, and final velocity of any
move that is executing. However, you must observe a few rules:
1.
STARTTYPE must be IMMED or SIMM
2.
Direction is set according to the target position. For Jog, according to
the sign of the velocity.
3.
New and old VELOCITYCRUISE and VELOCITYFINAL must be
positive in case of move command.
4.
If the succeeding move changes PFINAL or VFINAL, it must remain
possible to create the profile with the axis acceleration limits
4.1.8.4. S
YNCHRONIZING
M
ULTIPLE
A
XES
The MC is abile to synchronize many single-axis
MOVE
s so they all start
simultaneously. This is useful when you have multiple axes with moves that
are largely independent, but must start at the same time. It is also useful for
coordinating more than three axes. Group motion, which is covered later,
provides tighter coordination, but with one movement profile.
96 Rev
E
M-SS-005-03l
