Lenze E94P PositionServo with MVOB Uživatelský manuál stáhnout pdf (Strana 29)

PM94H201B_13xxxxxx_EN L 27

Introduction

elocity

Time

Triangular Move Prole

Steady State Velocity

(Dened by 'DECEL' variable)

Acceleration Rate

(Dened by 'ACCEL' variable)

Trapezoidal Move Profile

Deceleration Rate

(Defined by 'DECEL' variable)

Acceleration & Deceleration Rates Only

(Defined by 'ACCEL' and 'DECEL' variables)

Figure 10: Trapezoidal Move

1.10.3 Segment Moves

MOVED and MOVEP commands facilitate simple motion to be commanded, but if the required move proﬁle is more

complex than a simple trapezoidal will allow, then the segment MDV move can be used.

The proﬁle shown in Figure 11 is divided into 8 segments or 8 MDV moves. An MDV move (Move Distance Velocity) has

two arguments. The ﬁrst argument is the distance moved in that segment. This distance is referenced from the motor’s

current position in User Units. The second argument is the desired target velocity for the end of the segment move. That

is the velocity at which the motor will run at the moment when the speciﬁed distance in this segment is completed.

10 15

20 25

Segment

Distance (User Units)

Velocity (RPS)

Figure 11: Segment Move

Table 6: Segment Move

Segment Number Distance moved

during segment

Velocity at the end of

segment

1 3 56

2 3 12

3 4 16

4 2 57

5 2.5 57

6 3 11

7 5 20

8 5 0

- - -

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 139 140

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Lenze E94P PositionServo with MVOB Uživatelský manuál Strana 29