MOTION CONTROL
ADVANCED MICRO CONTROLS INC.
2
20
Encoder Moves (continued)
You do not have the preset the position or home the machine before you can use a relative
Encoder Move.
Blend Moves
All of the moves explained so far must complete or be stopped before another move can begin. A Blend
Move gives you the ability to string multiple relative moves together and run all of them sequentially without
having to stop the shaft between moves.
Each Relative Move defines a segment of the Blend Move. The following restrictions apply when program-
ming Blend Moves.
1) Each segment of the Blend Move must be written to the SD17060E before the move can be initiated.
The SD17060E supports Blend Moves with up to sixteen segments.
2) Each segment is a relative move. Blend Moves cannot be programmed with absolute coordinates.
3) All segments must be in the same direction. If you want to reverse direction, you must program and
run the first Blend Move then program the second move and run it in the opposite direction. You can
also run the same profile in opposite direction as shown below.
4) The Programmed Speed of each segment must be greater than or equal to the Starting Speed. The
Programmed Speed must also be different from the previous segment.
The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direc-
tion, and then in the counter-clockwise direction.
Figure 2.13 Blend Move
Controlled Stop Conditions
h
The move completes without error.
h
You toggle the Hold Move control bit in the Network Input Data. When this occurs, the SD17060E
decelerates the move at the deceleration rate of the present segment to the Starting Speed and ends the
move. Note that your final position will most likely not be the one you commanded. The use of the
Hold Move bit is explained in the
Starting Speed
S
PEED
POSITION
Starting Speed
End of
Segment 1 CW
CW
CCW
End of
Segment 2 CW
End of
Segment 3 CW
End of
Segment 1 CCW
End of
Segment 2 CCW
End of
Segment 3 CCW
