Lenze PMSS1000 Simple Servo - Manual (Page 44)

Indexer-Programmer-Manual.pdf REV 1.3
;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 that results from segment move.
Accel = (V2f - V20) / 2*D
Vf
- Final velocity
V0 - Starting velocity
D - Distance
S-curve Acceleration
Instead of using linear acceleration, motion created using segment moves (MDV statements) can use S-
curve acceleration. The syntax for MDV move with S-curve acceleration is:
MDV
<distance>,<velocity>,S
Segment using S-curve acceleration will take the same amount of time as linear acceleration segment. S-
curve acceleration is useful because it is mach smoother at the beginning and end of the segment,
however, the peak acceleration of the segment will twice as high as the acceleration used in the linear
acceleration segment.
Motion SUSPEND/RESUME.
There is a need sometimes to delay motion by filling motion stack with motion profiles ahead of time and
then execute motion in some predetermined instance. Statement MOTION SUSPEND will suspend
motion until statement MOTION RESUME is executed. When motion is suspended any execution of the
motion statement will place motion segment (profile) to the motion stack. When MOTION RESUME is
executed motion will be started with the first placed segment in motion stack. Here is the example:
MOTION
SUSPEND
MDV 10,2 ;placed in stack
MDV 20,2 ;placed in stack
MDV 2,0 ;placed in stack
MOVED 3, C ;must use ",C "modifier. Otherwise dead lock ;will result.
MOTION RESUME
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