Lenze E94P PositionServo with MVOB Uživatelský manuál stáhnout pdf (Strana 53)

PM94H201B_13xxxxxx_EN L 51

Programming

The proﬁle shown in Figure 20 can be broken up into 8 MDV moves. The ﬁrst segment deﬁnes the distance between

point 1 and point 2 and the velocity at point 2. So, if the distance between point 1 and 2 was 3 units and the velocity at

point 2 was 56 Units/S, the command would be: MDV 3 , 56. The second segment gives the distance between point 2

and 3 and the velocity at point 3, and so on.

10 15

20 25

Point

Distance (units)

Figure 20: MDV Segment Example

Table 15 lists the supporting data for the graph in Figure 20.

Table 15: MDV Segment Example

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

- - -

;Segment moves

MDV 3 , 56

MDV 3 , 12

MDV 4 , 16

MDV 2 , 57

MDV 2.5 , 57

MDV 3 , 11

MDV 5 , 20

MDV 5 , 0

END

The following equation can be used to calculate the acceleration / deceleration that results from a segment move.

Accel = (V

- V

) / [2*D]

= Final velocity

= Starting velocity

D = Distance

1 2 ... 48 49 50 51 52 53 54 55 56 57 58 ... 139 140

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Lenze E94P PositionServo with MVOB Uživatelský manuál Strana 53