Parker Hannifin
Motion profile values for each master can be set in two ways:
►
Through the Configuration Wizard.
►
In a program using the appropriate motion profile statements
(
ACC
,
DEC
,
STP
, or
VEL
).
In either case, the program continues to use those motion profile
values until new values are commanded.
NOTE:
Motion profile values in a specific program can be changed
from within a different program using the
MASTER
(Direct
Master Access) command. A master must be attached to
each program, and is usually the same number as the
program number. For more information about masters, see
Master/Slave Attachments
.
For example, to change the velocity in program zero to 500,
send the following:
MASTER0 VEL500
.
Example
The following example assumes a 1000 line encoder attached to a
motor. The
MULT
(Set Encoder Multipliers) command brings the value
to 4000. Then
PPU X4000
sets the programming units to revolutions
(4000 pulses/rev) for the rest of the program. The X axis moves 200
revolutions at 20 revs/second, using 10 revs/second² ramps.
MULT X4
PPU X4000
ACC 10
DEC 10
STP 10
VEL 20
MOV X200
Interaction Between Motion Profilers
Any combination of motion profilers can be used to carry out motion
for an application. As stated previously, the controller must be set up
for coordinated motion. Once this is done, the other motion profilers
can be accessed through the
JOG
,
GEAR
, and
CAM
commands.
Before writing code, it is important to understand how the motion
profilers interrelate.
•
Each motion profiler calculates its own commanded position—
the absolute and relative moves for an axis or axes.
•
No motion profiler supersedes another; there is no hierarchy
among the profilers.
54 Programmer’s Guide
