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11
Motion Control Concepts
Section 1-3
The speed profile of the motion along the path is given in the diagram. The
three parameters SPEED, ACCEL and DECEL which determine the multi axis
movement are taken from the corresponding parameters of the base axis.
The MOVE command computes the various components of speed demand
per axis.
Circular Interpolation
It may be required that a tool travels from the starting point to the end point in
an arc of a circle. In this instance the motion of two axes is related via a circu-
lar interpolated move using the MOVECIRC command. Consider the following
diagram.
The centre point and desired end point of the trajectory relative to the start
point and the direction of movement are specified. The MOVECIRC command
computes the radius and the angle of rotation. Like the linearly interpolated
MOVE command, the ACCEL, DECEL and SPEED variables associated with
the base axis determine the speed profile along the circular move.
CAM Control
Additional to the standard move profiles the MC Unit also provides a way to
define a position profile for the axis to move. The CAM command will move an
axis according to position values stored in the MC Unit Table array. The
speed of travelling through the profile is determined by the axis parameters of
the axis.
1-3-3
EG-Control
Electronic Gearing control allows you to create a direct gearbox link or a
linked move between two axes. The MC Unit supports the following opera-
tions.
1.
Electronic gearbox
2.
Linked CAM
3.
Linked move
4.
Adding axes
0
Axis 0
Axis 1
MOVECIRC(-100,0,-50,0,0)
50
50
-50
Time
Position
CAM(0,99,100,20)