Parker
Hannifin
Primary Setpoint
All profilers feed their commanded positions to a summation point,
and the result is the Primary Setpoint for each axis. See Figure 1.
Figure 1 Primary Setpoint Summation
In effect, the Jog, Gear, and Cam profilers act as offsets to the
Coordinated Motion Profiler. The example below demonstrates the
offset concept.
Example
Suppose an application cuts four diamond shapes from sheets of
stock. The program commands motion of axes X, Y, and Z. For
simplicity, this example focuses only on the X and Y axes.
Rather than plotting the cutting motion by providing the coordinates
for each diamond, the code in this example provides the
coordinates for one diamond and uses the Jog Profiler to offset the
coordinates for the remaining diamonds.
The axes are attached to a Coordinated Moves Profiler (see
Master/Slave Attachments
). The cutting tool starts at coordinates (0,
0) in the lower left quadrant of the stock. Subsequent diamonds are
cut in sequence from upper left, upper right, and lower right
quadrants. The first shape is cut based on the following moves:
X-2 Y1
X0 Y2
X2 Y1
X0 Y0
For the second shape, instead of providing a new set of X and Y
coordinates, a jog statement is used to shift the Y axis 3 units. You
can then provide the same coordinates used to cut the first shape.
The new starting position becomes coordinates (0, 3).
JOG ABS Y3
X-2 Y1
X0 Y2
X2 Y1
X0 Y0
Making Motion 55
