Delta AX-3 Series, Руководство по эксплуатации

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C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n
7 - 8 5
7_
7.7.3 Velocity Control
There are three kinds of motion control modes, the Cyclic Synchronous Position (CSP), the Cyclic Synchronous
Velocity mode (CSV), and Profile Velocity mode (PV).
7.7.3.1 CSP Mode
The CSP mode is described as cyclic synchronous position in section 7.7.2.1. Under this mode, the controller can
calculate the position of a command per cycle based on assigned velocity (including acceleration, deceleration and
jerk) then send this command to the servo for execution.
In CSP mode, when external interference causes the current servo position to lag behind the position command of
the controller, vibrations may appear as a result to compensate these position errors.
The use of motion instruction MC_MoveVelocity can execute velocity and motion control in CSP mode. When
executing, the axis state enters continuous_motion state. The assigned acceleration, deceleration and jerk can be
set during velocity adjustment (before reaching assigned velocity or during buffering). MC_Stop
and
MC_Halt or
other motion instructions can be used to stop the control mode when needed.
The following diagram uses MC_MoveVelocity to proceed velocity and motion control, as well as MC_Halt for
discontinue in the timing diagram:
Assign velocity to 0, though the current movement is static but the system will be in continuous_motion status.
In AX series, use instruction MC_MoveVelocity to execute velocity control for single axis in CSP mode. Please refer
to AX Series Motion Controller Manual for more function block details.