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Practical examples
Section 5-2
335
5-2-4
Single axis program
This program is a simple program to run one axis only.
5-2-4-1 Example
'GOSUB homing
BASE(0)
DEFPOS(0)
WA(100)
loop:
MOVE(1440)
WAIT IDLE
WA(100)
GOTO loop
The units are degrees in this example, therefore:
• 13-bit encoder
• Pn202=32
• Pn203=45
•
UNITS=32
The graph in the figure is typical for this point-to-point movement with linear
acceleration). Note the following:
• During linear acceleration, the graph of the position is parabolic (because
the speed is a derivative of the position).
• During constant speed, the graph of the position is straight.
• During linear deceleration, the graph of the position is counter-parabolic.
• During stop, the graph of the position is constant.
• When an overflow occurs (
MPOS>=REP_DIST
), the position jumps to 0 if
REP_OPTION=1
or to
-REP_DIST
if
REP_OPTION=0
.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
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Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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