Parker Hannifin
Making Motion
Now that the controller is configured, it is ready to make motion. The
ACR controller can perform linear, circular, or more complex motion
with a single axis or multiple axes.
Four Basic Categories of Motion
There are four basic categories of motion used in motion control:
coordinated, jog, gear, and cam.
•
Coordinated Moves Profiler (Multi-Axis Profile):
Use the
MOV
command for linear-interpolated incremental and absolute
moves. It also allows circular interpolation (
CIRCW
,
CIRCCW
,
SINE
, and
TARC
). The trajectory values are “path” values.
•
Jog Profiler (Single-Axis Profile):
Use the
JOG
commands for
incremental, absolute, or continuous moves. The Jog Profiler is
axis-independent, meaning that each axis uses its own
trajectory values independent of other axes.
•
Gear Profiler (Electronic Gear):
Use the
GEAR
commands to
control motion based on an external source—such as an
electronic gearbox, trackball, follower axis, feed-to-length, or
changes of ratio related to position.
•
Cam Profiler (Electronic Cam):
Use the
CAM
commands to
control irregular motion using data tables. The Cam Profiler
provides control of complex motion, and is best used in
situations where the Gear Profiler is unable to perform
satisfactorily.
Regardless of the type of motion or number of axes used, the
controller must always be set up for coordinated motion. This may
be done by using the Configuration Wizard or by writing custom
configuration code, and including master, slave, and axis
attachment statements. The attachment statements make the basic
connections to a coordinated motion profiler. For more information,
see
Attachments
.
After making the necessary attachments, a motion profile can be
defined. The following sections examine the different move types
and motion profilers.
48 Programmer’s Guide
