SEGMENT
PARAMETERS
PRF =
SEG =
GAIN FACTORS =
DWELL TIME =
INPUT EVENT =
TARGET POSITION =
MOVE SPEED =
TARGET SPEED =
ACCELERATION =
DECELERATION =
OUTPUT EVENT =
COND. EVENT =
JUMP SETMENT =
PROFILE
PARAMETERS
PRG =
AXIS =
LAST SEG =
MAX POSITION =
MIN POSITION =
MAX SPEED =
MAX ACCEL =
MAX DECEL =
MAX POS ERR =
IN POS ERR =
GLOBAL EVENT =
This data is entered in the
configuration mode.
AXIS PARAMETERS
AXIS = X
ENG UNITS =
GAIN FACTORS =
MAX POSITION =
MIN POSITION =
MAX SPD =
CREEP SPD =
HOME SPD =
HOME POS =
HOME OFF =
HOME DIR +
JOG SPD =
MAX ACCEL =
MAX DECEL =
MAX POS ERROR =
IN POS ERROR =
D/A OFFSET =
GLOBAL EVENT =
PRG-P
PROFILES
SEGMENT
AXIS
CFG-X
PRG-PS
FIGURE 3-2B. Configuring
Versus Programming
15
Profile
A profile is a description of a set of
motions and associated input and/or
output instructions always ending with
the axis returned to zero velocity, but not
necessarily the starting position.
In motion control applications, a
controlled axis typically executes a
series of moves with or without
intermediate stops and eventually
returns to the starting position. This
motion is frequently represented by a
graph with position on the X (horizontal)
axis and velocity on the Y (vertical) axis.
Segment
Defines the events (I/O) or motion over a
portion of a profile which consists of a
maximum of one acceleration and one
deceleration.
The number of segments in a given
profile and the number of different
profiles which can be programmed on
an axis is not fixed, but instead is
governed by the available memory. The
SMC20 can store 900 segments. Each
profile uses at least one segment but
may use many segments.
Figure 3-2A. Segmentation
Configuring Versus Programming
Associated with each of the elements of
the SMC20 hierarchy (AXIS, PROFILE,
SEGMENT) is data or parameters that
must be entered.
Some of the data (or parameters) are
entered only once for the SMC20.
Typically this type of data applies to the
SYSTEM or an AXIS. Examples of this
type of data are Maximum Axis Speed,
Jog Speed, Maximum Acceleration, etc.
The reason they are only entered once
is that these parameters are absolute
maximum values or other constants (i.e.
gain ratios) that relate to the real
machinery hardware not a particular
program being run on the SMC20. The
data that is only entered once or
changed very infrequently is entered in
the Configuration mode (CFG).
Other types of data are changed
frequently. For example, the position
that an axis is to move to in a given
profile, the speed at which it is to move,
whether a limit switch (an input) is to be
checked, etc., are all things that depend
only on that particular SEGMENT or
group of SEGMENTS (a PROFILE).
The data that is changed all the time is
entered in the Program (PRG) mode.
The type of data and the level that it
applies to is shown in Figure 3-2B. Also
shown is the mode (CFG or PRG) where
the data is entered.
