Kollmorgen Servostar M-SS-005-03, Руководство пользователя

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Danaher Motion 06/2005 Groups
M-SS-005-03 Rev E 133
If you want to delay the start of a new move until a condition has been met,
use
<axis>.STARTTYPE
. There are four choices:
StartType = GeneratorCompleted or GCOM
When STARTTYPE=GCOM, the new move starts as soon as the
motion generator completes the current move's motion.
StartType = InPosition or INPOS
When STARTTYPE=INPOS, the motion generator delays executing the
new motion until the current move completes and the position error
settles to near zero.
StartType = Immediate (IMMED) or SuperImmediate (SIMM)
When STARTTYPE=IMMED or SIMM, the new move overwrites the
current move. This is used when making realtime changes to the profile,
such as changing the end-point of the current move without bringing the
system to rest. For example, registration applications frequently use this
function.
StartType = Sync
When STARTTYPE = SYNC, the motion is synchronized with
SYNCSTART
.
6.10.3. Chain Moves
When chaining multiple moves which all end at zero speed, you normally
want STARTTYPE=INPOS. This forces the motion generator to wait for the
position error to become small before starting the next move. If the position
profile starts on the second move too soon, the motor may never come to
rest. Normally, the desired performance is for the velocity to go to zero
before the second move starts. This is the case where
STARTTYPE =
INPOS .
The ending speed of a
MOVE
defaults to zero. However, you can specify a
speed other than zero as the end speed. To do this,
<axis>.VELOCITYFINAL . For example:
MyGroup.VelocityCruise = 2000
Move MyGroup {1.5, -2.33} VelocityFinal = 1000
Move MyGroup {2.0, 4.2}
When the final velocity is not specified, the movement terminates with zero
velocity. If you specify a non-zero final velocity, the smoothness of the
motion is your responsibility.
If there are no movement commands to chain, the system stops motion with
automatic braking and displays a message.
6.10.4. Multi-Step Moves
Combining non-zero end-point moves in the motion buffer produces multi-
step moves. For example:
REM First Step
MyGroup.VelocityCruise = 2000
Move MyGroup {100, 400} VelocityFinal = 1000 ‘Second Step
MyGroup.StartType = GCOM
MyGroup.VelocityCruise = 1000
Move MyGroup {200, 400}