10
Motion
Generator: Features and Functions
Page 54
User Manual for PMotion
•
$MAnn, $MBnn, $MCnn, $MXnn, $MYnn & $MZnn: The meaning of the variables is
dependent on the segment type, as shown in the following table:
Segment
Type
Variables
Description
1 $MA
nn
Start velocity, required only when „Value as
specified“ is selected using $MW
nn
.
2 $MX
nn
& $MY
nn
Start & End percentages x 10
6
3 $MX
nn
& $MY
nn
Start & End percentages x 10
6
4 $MX
nn
& $MY
nn
Start & End percentages x 10
6
5 $MX
nn
& $MY
nn
Start & End percentages x 10
6
6 $MX
nn
& $MY
nn
Start & End percentages x 10
6
7 $MA
nn
, $MB
nn
& $MC
nn
Normalised amplitudes of the three harmonics of
a three term fourier series x 10
6
8 $MA
nn
, $MB
nn
& $MC
nn
Amplitude (inc.), Cycle start angle (degrees x 10
6
)
and No. of cycles (no units x 10
6
)
9 $MA
nn
, $MB
nn
$MC
nn
, $MX
nn
$MY
nn
& $MZ
nn
Start & End derative values
(when applicable with $MW
nn
).
10 $MA
nn
& $MB
nn
Start & End percentages x 10
6
11 $MA
nn
Extent of throw (inc.)
13 $MA
nn
Slave end position (inc.)
15 $MA
nn
, $MB
nn
,
$MC
nn
,
$MX
nn
& $MY
nn
Percentage x 10
6
of sine-, constant- or cosine
portion of the segment.
Start & End percentages x 10
6
16 $MX
nn
& $MY
nn
Start & End percentages x 10
6
•
$MNAME specifies the name of the map.
•
$MNPT specifies the number of points saved in the map table (max. 65536).
•
$MSTART is a trigger variable to start calculation of a map. This variable is usually set to 1
at the end of a map sequence to start calculation.
•
$MREADY is a trigger variable to indicate the status of map calculation. The variable is set
to 0 while calculating and to 1 when calculation is finished.
•
$MSTATUS is a status variable used to return success or failure of map generation: Zero
indicates success, a non-zero value indicates failure (See chapter 8.2 Page 29).
•
$MRESET is a trigger variable to set all variables to their default values.
•
$MSAVE is used to save the map on the controller ($MSAVE=1) after generating or not
($MSAVE=0).
