User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-35
7
t
v
P C2C1
76000
CTL01 ON
Example 11: Jump Followed by PMOVE
In this JUMP example, the command after the JUMP is a PMOVE in the same direction. The
velocity profile below shows the acceleration and movement for the first CMOVE and the
deceleration to the PMOVE’s velocity. The
CTL01
bit, OFF when the PMOVE begins, turns ON
at the second dashed line. Motion stops after a PMOVE, even if a conditional jump goes to
another block. Thus the
CTL01
bit triggers a deceleration to zero before the final CMOVE
begins.
1: ACCEL 2000
VELOC 8000
CMOVE 76000, INCR, LINEAR
2: ACCEL 1000
VELOC 4000
JUMP CTL01, 3
PMOVE 50000, INCR, LINEAR
3: ACCEL 6000
VELOC 6000
CMOVE 6000, INCR, LINEAR
Figure 7-14. Jump Followed by PMOVE
S-CURVE Jumps
Jumps during linear motion and jumps during s-curve motion at constant velocities immediately
begin accelerating or decelerating to a new velocity. Jumps during a s-curve acceleration or
deceleration, however, require different rules in order to maintain a s-curve profile. What
happens when a jump occurs during an s-curve move while changing velocity depends on whether
the jump occurs before or after the midpoint (the point where the acceleration magnitude is
greatest) and whether the velocity at the jump destination is higher or lower than the current
velocity.
S-CURVE Jumps after the Midpoint of Acceleration or Deceleration
If the jump occurs after the midpoint of the change in velocity, the change will continue normally
until constant velocity is reached; then the velocity will be changed to the new velocity using the
acceleration mode of the move at the jump destination.