ElmoMC SimplIQ Software Manual - Manual (Page 147)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-6
0 0.01 0.02 0.03 0.04 0.05 0.06
0
1000
2000
0 0.01 0.02 0.03 0.04 0.05 0.06
0
50
100
S peed
A cceleration
(A C )
C onstant speed
(S P )
D eceleration
(D C )
P osition
With shorter movement, the deceleration begins before the speed limit is reached, so that the
SP speed limit is not effective. This situation is depicted in the following figure:
0 0.01 0.02 0.03 0.04 0.05 0.06
-500
0
500
1000
0 0.01 0.02 0.03 0.04 0.05 0.06
0
5
10
A C
D C
Time (sec)
Time (sec)
S peed
P osition
11.1.4.2 More Complex PTP Motions
PTP motions may be initiated any time, using the PA command, but not necessarily from
a stationary state. The PTP decisions, made every position control cycle, are described in
the following flowchart. All parameters in the flowchart — including AC, DC, SP and
position target — are updated by a BG command, or by its hardware-activated
equivalent.