9
Segment
Types
Page 42
User Manual for PMotion
•
Master end position $MM
nn
=<value> sets end segment master position
•
Slave end position $MS
nn
=<value> sets end segment slave position
•
Derivative specification parameters are used when the segment constraint specifies that
the particular derivative is specified:
Segment
Boundary
Derivative
Variable
Units:
Slave encoder counts (inc.) per
Start
Velocity
Acceleration
Jerk
$MA
nn
$MB
nn
$MC
nn
1x10
6
Master counts
1x10
8
Master counts
2
1x10
9
Master counts
3
End
Velocity
Acceleration
Jerk
$MX
nn
$MY
nn
$MZ
nn
1x10
6
Master counts
1x10
8
Master counts
2
1x10
9
Master counts
3
Examples: For every master position count:
$MA
nn
=1000000 means that slave position increases by 1 count.
$MA
nn
=-24000000 means that slave position decreases by 24 counts.
$MA
nn
=50000 means that slave position increases by 0.05 counts.
$MB
nn
=50000000 means that slave velocity increases by 0.5 counts per master count
(equivalent to a increase in $MA
nn
of 500000).
$MZ
nn
=-2000000000 means that slave acceleration decreases by 2 counts per master count
(equivalent to a decrease in $MY
nn
of 200000000).
