Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 179)

Motion • Stick Moves 157
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
This represents a three segment (stick) move. The first segment has a starting velocity of 0 and final
velocity of 2. This velocity is reached by the time the motor travels 1 unit of distance. The second stick
starts at a velocity of 2 and accelerates to a velocity of 3 while traveling a distance of 4. The final stick
starts at a velocity of 3 and decelerates to a stop while traveling a distance of 2. The instructions to make
this move are:
D = 1, V = 2
D = 4, V = 3
D = 2, V = 0
The following equation can be used to calculate the acceleration that results from a stick move.
The program execution does not continue until the commanded profile is completed. Execution will
then continue at the next instruction.
DIF Segments (Sticks)
A DIF segment is a special form of a DV instruction and may not be used as the first stick of a move. A
DIF instruction will move the distance specified unless a specified condition is satisfied during the
move. The velocity for the move is that of the final velocity of the previous DV move. If the condition
is met, the action specified in the instruction is taken. If the condition is not met during the move, the
next program statement is executed when the move distance is reached. The syntax for this instruction
is:
DIF = distance, condition, JUMP label
Distance is the incremental distance that will be moved unless the condition is satisfied. Condition spec-
ifies the condition that must be met for the action to take place. JUMP label specifies where the program
should jump to if the condition is true.
Time
D=1,V=2
D=4,V=3
D=2,V=0
Position=1 Position=5
Position=7
Velocity
) (
Accel
V V
D
V
V
D
f o
f
o
=
−
≡
≡
≡
2 2
2
Final Velocity
Starting Velocity
Distance