User`s manual

5-22 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
5
Move Type (byte 1):
00h = Abs, Pmove, Linear
01h = Abs, Cmove, Linear
10h = Abs, Pmove, Scurve
11h = Abs, Cmove, Scurve
40h = Inc, Pmove, Linear
41h = Inc, Cmove, Linear
50h = Inc, Pmove, Scurve
51h = Inc, Cmove, Scurve
The data field for this command may contain a parameter number in byte 2 (bytes 3-5 unused)
with the command type as defined below:
Move Type (byte 1):
80h = Abs, Pmove, Linear
81h = Abs, Cmove, Linear
90h = Abs, Pmove, Scurve
91h = Abs, Cmove, Scurve
C0h = Inc, Pmove, Linear
C1h = Inc, Cmove, Linear
D0h = Inc, Pmove, Scurve
D1h = Inc, Cmove, Scurve
The
Move
C
ommand
is executed as a single move motion program. Therefore all the restrictions
that apply to motion program execution also apply to the
Move Command
. For example, if a
program is already active for axis 1, then an attempt to send this command for axis 1 will result in
an error condition being reported.
4.10 Jog Velocity.
(User units/sec) This command sets the velocity used when a
Jog
%Q bit is used
to jog in the positive or negative direction.
Jog Velocity
is used by motion programs when no
Velocity command is included in the program.
Jog Velocity
is always used by the %AQ Move
Command (27h). A PLC reset or power cycle returns this value to the configured data.
4.11 Jog Acceleration.
(User units/sec/sec) This command sets the acceleration value used by
Jog
,
Find Home
,
Move at Velocity, Abort All Moves
and
Normal Stop
operations. A
Normal
Stop
occurs when the PLC switches from Run to Stop or after certain programming errors (refer
to Appendix A).
Jog Acceleration
is used by motion programs when no Acceleration command is
included in the program.
Jog Acceleration
is always used by the %AQ Move Command (27h). A
PLC reset or power cycle returns this value to the configured data.
Note: A minimum value after scaling is used in the DSM314. This value is determined by the
rule: Jog Acc * (user units/counts) >= 32 counts/sec/sec.
4.12 Position Loop Time Constant.
(0.1 Milliseconds) This command allows the servo
position loop time constant to be changed from the configured value. The lower the Position Loop
Time Constant value, the faster the system response. Values that are too low will cause system
instability and oscillation. For accurate tracking of the commanded velocity profile, the
Position
Loop Time Constant
should be 1/4 to 1/2 of the MINIMUM system acceleration or deceleration