Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 137)

Publication 1746-6.1.2 - July 2000
8-20 Programming the SLC Processor to Run the SLC Servo Module
Executing a Run Blend Move Profile
Typically, a profile contains from 2 to 32 segments. In many
applications, you must quickly execute a series of short sequential
moves. Blend move profile provides this capability.
Figure 8.10 Speed Decreases, Direction Same, End Point Greater
If: This is the result:
The new blend move end point
value is greater than the
currently executing move The axis continues to move in the same direction, as shown in
Figures 8.10 and 8.11.
The speed for the new blend
move is less than the current
move The axis decelerates to the new blend move’s speed by the end
point of the currently executing move, as shown in Figure 8.10.
The speed for the new move is
greater than the current move
speed The axis continues moving at the current speed until the end
point of the current move. The axis then accelerates to the next
move’s speed, as shown in Figure 8.11.
The new blend move end point
value is less than the currently
executing move The axis continues the current move at the current speed, and
decelerates to a stop at the end point of the current move. The
axis then reverses the direction and executes the next move
(i.e., no blending of speeds occurs as speed reverses), as shown
in Figure 8.12.
Velocity
Time
End point of the current move.
The current move end point is less than the
end point for the new move.
The speed for the new move is less than the
speed for the old move.
0
0