Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 148)

126 • Subroutines and Loops
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
;This subroutine uses dist, V2 and V3
V2 = 500*VEL/TBase;calc. accel distance: (VEL/(TBase/500))^2/2*ACCEL)
V2 = V2*V2/(2*ACCEL)
IF dist < 0 V2 = -V2;If backward move, accel backward
;IF UTOC1(dist) > -10 IF UTOC1(dist)<10 {MOVD dist RETURN}
V3 = 2*V2
IF dist<0 {IF V3>dist JUMP nrmlmd};check for (+) moves
ELSE {IF V3<dist JUMP nrmlmd};check for (-) moves
V2 = dist/2 ;do a triangle move
V3 = VEL*(dist/V3)
D = V2,V = V3,S
D = V2,V = 0,S
RETURN
nrmlmd: ;do a normal "trapezoidal" move
V3 = dist-V3;calc constant speed distance
D = v2,V = VEL
D = V3,V = VEL
D = V2,V = 0,S
RETURN
END