Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 50)

10 Motion Generator: Features and Functions
Page 50 User Manual for PMotion
10.2
Summary of Segment Constraints
Segment Type Segment start constraints
0: Constant Position
P matched
V A J not specified
1: Constant Velocity P matched
V matched or specified ,
A J not specified
2: Constant Acceleration
3: Sine-Squared Velocity
4: Cycloidal
5: Modified Trapezoidal
6: Modified Sine
7: Triple Harmonic
8: Sinusoidal
10: Ramp
11: Throw
14: Sine-Constant-Cosine
15: Simple Harmonic P matched
V matched or not specified
A J not specified
9: Polynomial P matched
V A J matched or specified or not specified
12: Quadratic Spline P V matched
A J not specified
13: Cubic Spline P V A matched
J not specified
Legend:
P: Position V: Velocity
A: Acceleration J: Jerk
• Matched means that the derivative value doesn’t change from the
end of one segment to the beginning of the next (matched with previous).
• Specified means that the derivative value can be set at that point
on the segment (value as specified).
• Not specified means that the derivative value cannot be altered at that point of the
segment (no value specified).