User`s manual

Contents
x Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
Example 13: S-CURVE - Jumping Before the Midpoint of Acceleration or
Deceleration ....................................................................................................... 7-36
S-CURVE Jumps to a higher Acceleration while Accelerating or a lower Deceleration
while Decelerating ..............................................................................................7-37
Example 14: S-CURVE - Jumping to a Higher Velocity While Accelerating or
Jumping to a Lower Velocity While Decelerating................................................7-37
Other Programmed Motion Considerations .................................................................7-38
Maximum Acceleration Time...............................................................................7-38
Example 15: Maximum Acceleration Time.........................................................7-38
Feedhold with the DSM314 ........................................................................................7-40
Example 16: Feedhold........................................................................................7-40
Feedrate Override.......................................................................................................7-41
Example 17: Feedrate Override.......................................................................... 7-41
Multi-axis Programming.............................................................................................7-42
Example 18: Multi-axis Programming................................................................ 7-42
Parameters (P0-P255) in the DSM314......................................................................... 7-44
Calculating Acceleration, Velocity and Position Values..............................................7-46
Kinematic Equations......................................................................................7-46
Motion Editor Error and Warning Messages................................................................7-49
Syntax Errors .......................................................................................................7-49
Semantic Errors.................................................................................................... 7-49
Warnings..............................................................................................................7-52
Using Error Messages to Troubleshoot Motion Programs......................................7-53
Chapter 8 Follower Motion.............................................................................................. 8-1
External Master Inputs............................................................................................8-2
Example 1: Following Axis 3 Actual Position Master Input ..................................8-2
Internal Master Axis Command generators .............................................................8-3
Example 2: Following an Internal Master command .............................................8-3
A:B Ratio .....................................................................................................................8-3
Example 3: Sample A:B Ratios ............................................................................8-4
Example 4: Changing the A:B Ratio.....................................................................8-5
Velocity Clamping........................................................................................................8-5
Example 5: Velocity Clamping.............................................................................8-5
Unidirectional Operation...............................................................................................8-6
Example 9: Unidirectional Operation....................................................................8-6
Enabling the Follower with External Input....................................................................8-6
Disabling the Follower with External Input...................................................................8-7
Follower Disable Action Configured for Incremental Position.......................................8-7
Follower Axis Acceleration Ramp Control....................................................................8-7
Follower Mode Command Source and Connection Options .................................8-11
Chapter 9 Combined Follower and Commanded Motion............................................... 9-1
Example 1: Follower Motion Combined with Jog.........................................................9-1
Follower Motion Combined with Motion Programs ......................................................9-2
Example 2: Follower Motion Combined with Motion Program......................................9-5