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10
Motion Control Concepts
Section 1-3
Continuous Moves
The FORWARD and REVERSE commands can be used to start a continuous
movement with constant speed on a certain axis. The FORWARD command
will move the axis in positive direction and the REVERSE command in nega-
tive direction. For these commands also the axis parameters ACCEL and
SPEED apply to specify the acceleration rate and demand speed.
Both movements can be canceled by using either the CANCEL or RAPID-
STOP command. The CANCEL command will cancel the move for one axis
and RAPIDSTOP will cancel moves on all axes. The deceleration rate is set
by DECEL.
1-3-2
CP-control
Continuous Path control enables to control a specified path between the start
and end position of a movement for one or multiple axes. The MC Unit sup-
ports the following operations.
• Linear interpolation
• Circular interpolation
• CAM control
Linear Interpolation
In applications it can be required for a set of motors to perform a move opera-
tion from one position to another in a straight line. Linearly interpolated moves
can take place among several axes. The commands MOVE and MOVEABS
are also used for the linear interpolation. In this case the commands will have
multiple arguments to specify the relative or absolute move for each axis.
Consider the following three axis move in a 3-dimensional plane.
V
a
---
=
V
2
2a
------
=
V
d
---
=
V
2
2d
------
=
D
=
V
2
a
d
+
(
)
2ad
-----------------------
–
D
V
----
=
V a
d
+
(
)
2ad
---------------------
+
Acceleration time
Acceleration distance
Deceleration time
Deceleration distance
Constant speed distance
Total time
Axis 0
Axis 1
Axis 2
Speed
Time
MOVE(50,50,50)