User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-25
7
Programmed Moves
By combining CMOVEs and PMOVES, absolute and incremental moves, and linear and s-curve
motion, virtually any motion profile can be generated. The following examples show some simple
motion profiles, as well as some common motion programming errors.
Example 1: Combining PMOVEs and CMOVEs
This example shows how simple PMOVEs and CMOVEs combine to form motion profiles.
ACCEL 1000
VELOC 2000
PMOVE 5000, ABS, LINEAR
VELOC 1200
PMOVE 10000, ABS, S-CURVE
ACCEL 1500
VELOC 2800
CMOVE 6000, INCR, LINEAR
VELOC 1200
CMOVE 23000, ABS, S-CURVE
ACCEL 1000
VELOC 2800
PMOVE 5000, INCR, LINEAR
Figure 7-5. Combining PMOVEs and CMOVEs
The first PMOVE accelerates to program velocity, moves for a distance, and decelerates to a stop.
This is because motion stops after all PMOVEs. When the first move stops, it is at the
programmed distance.
The second move is an s-curve PMOVE. It, like the first, accelerates to the programmed velocity,
moves for a time, and decelerates to zero velocity because it is a PMOVE.
The next move is a linear CMOVE. It accelerates to program velocity, moves for a time, and then
decelerates to a lower velocity using linear acceleration. When a CMOVE ends, it will be at the
programmed position of the move just completed, and at the velocity of the next move. Thus
when the fourth move begins, it is already at its programmed velocity.
The fourth move is a CMOVE, so as it approaches its final position, it accelerates to be at the
velocity of the fifth move when it completes. The graph shows the acceleration of the fourth move
is s-curve.
Finally, the fifth move begins and moves at its programmed velocity for a time until it decelerates
to zero. Any subsequent moves after the fifth would begin at zero velocity because the fifth move
is a PMOVE.
v
t
P
-L
P
-S C-L C-S P-L
6000
23000