44
i
Chapter 6 Programming
Motion
CDS-3310
Instruction Interpretation
#A Begin
Program
PR 2000,500,100
Specify relative position movement of 2000, 500 and 100 counts
for A,B and C axes.
SP 15000,10000,5000
Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000
Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000,500000
Specify deceleration of 500000 counts / sec
2
for all axes
BG A
Begin motion on the A axis
WT 20
Wait 20 msec
BG B
Begin motion on the B axis
WT 20
Wait 20 msec
BG C
Begin motion on C axis
EN End
Program
VELOCITY
(COUNTS/SEC)
20000
10000
5000
15000
20
40
60
80
TIME (ms)
100
A axis velocity profile
B axis velocity profile
C axis velocity profile
0
Figure 6.1 - Velocity Profiles of ABC
Notes on fig 6.1: The A and B axis have a ‘trapezoidal’ velocity profile, while the C axis has a
‘triangular’ velocity profile. The A and B axes accelerate to the specified speed, move at this constant
speed, and then decelerate such that the final position agrees with the command position, PR. The C
axis accelerates, but before the specified speed is achieved, must begin deceleration such that the axis
will stop at the commanded position. All 3 axes have the same acceleration and deceleration rate,
hence, the slope of the rising and falling edges of all 3 velocity profiles are the same.
Independent Jogging
The jog mode of motion is very flexible because speed, direction and acceleration can be changed
during motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC)
rate for each axis. The direction of motion is specified by the sign of the JG parameters. When the
begin command is given (BG), the motor accelerates up to speed and continues to jog at that speed
until a new speed or stop (ST) command is issued. If the jog speed is changed during motion, the
controller will make a accelerated (or decelerated) change to the new speed.
An instant change to the motor position can be made with the use of the IP command. Upon receiving
this command, the controller commands the motor to a position which is equal to the specified
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