10
Motion
Generator: Features and Functions
Page 52
User Manual for PMotion
10.3
Summary of Segment Types and their Parameters
The following table summaries the variables used for each segment type in the controller
internal motion generator:
Segment Type
$MM
nn
$MS
nn
$MF
nn
$MA
nn
$MB
nn
$MC
nn
$MX
nn
$MY
nn
$MZ
nn
$MW
nn
Constant Position
>
0
Constant Velocity
>
1 Start
Velocity
*
>
Constant
Acceleration
>
>
2
Start
%
End
%
>
Sine-Squared
Velocity
>
>
3
Start
%
End
%
>
Cycloidal
>
>
4
Start
%
End
%
>
Modified
Trapezoidal
>
>
5
Start
%
End
%
>
Modified Sine
>
>
6
Start
%
End
%
>
Triple Harmonic
>
>
7 1.
Harmonic
2.
Harmonic
3.
Harmonic
>
Sinusoidal
>
r
8 Amplitude
Cycle
Start
No. of
Cycles
>
Polynomial
>
>
9 Start
Velocity
Start
Accel.
Start
Jerk
End
Velocity
End
Accel.
End
Jerk
>
Ramp
>
>
10
Start %
End %
>
Throw
>
>
11 Extent
of
Throw
>
Quadratic Spline
>
>
13
Cubic Spline
>
>
14
Sine-Constant-
Cosine
>
>
15 Sin
%
Constant
%
Cosine % Start %
End %
>
Simple Harmonic
>
>
16
Start
%
End
%
>
>
Standard definition applies
r
Variable may be present (and standard definition applies), but will not be used
<blank>
The variable does not apply to the segment type
<text>
Short description of the meaning of the variable specific to the segment type
*
Start velocity will only be required for segment type „Constant Velocity“ if the
velocity is not matched with previous segment.
