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PM94P01C 49

Programming

Velocity

Trapezoidal moves

Velocity

Velocity = 20

max velocity < 20

Time

Move2 - 1.5 units

Move1- 4 units

Move4 - 1.5 units

Move3- 4 units

VE 1 M

VE 2

MOVE 3 MOVE 4

S-curve moves

Figure 19: Move Illustration

ACCEL = 200

DECEL = 200

MAXV = 20

MOVED 4 ;Move 1

MOVED 1.5 ;Move 2

MOVED 4 , S ;Move 3

MOVED 1.5 , S ;Move 4

All four of the moves shown in Figure 19 have the same Acceleration, Deceleration and Max Velocity values. Moves 1

and 3 have a larger value for the move distance than Moves 2 and 4. In Moves 1 and 3 the distance is long enough to

allow the motor to accelerate to the proﬁled max velocity and maintain that velocity before decelerating down to a stop.

In Moves 2 and 4 the distance is so small that while the motor is accelerating towards the proﬁled Max Velocity it has to

decelerate to a stop before it can ever obtain the proﬁled Max Velocity.

2.11.3 Incremental (MOVED) Motion

Incremental motion is deﬁned as a move of some distance from the current position. ‘Move four revolutions from the

current position’ is an example of an incremental move.

MOVED is the statement used to create incremental moves. The simpliﬁed syntax is:

MOVED <+/-distance>

+/- sign will tell the motor shaft what direction to move.

2.11.4 Absolute (MOVEP) Move

Absolute motion is deﬁned as a motion to some ﬁxed position from the current position. The ﬁxed position is deﬁned

as a position relative to a ﬁxed zero point. The zero point for a system is normally established during the homing cycle,

typically performed immediately after power-up.

During a homing cycle, the motor will make incremental moves while checking for a physical input, index mark, or

both.

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Lenze PM94P01C Manual de usuario Pagina 51