User`s manual

7-36 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
7
t
v
C1 C2
CTL01 ON
C2 Begins
t
v
C1 C3
CTL01 ON
Example 12: S-CURVE - Jumping After the Midpoint of Acceleration or
Deceleration
In the following example, a jump occurs during the final phase of deceleration, at the dashed line.
The deceleration continues until constant velocity is reached and then the acceleration to the
higher velocity begins.
ACCEL 50000
VELOC 100000
1: JUMP CTL01, 3
CMOVE 500000, ABS, S-CURVE
2: VELOC 60000
CMOVE 500000, INCR, S-CURVE
3: VELOC 85000
ACCEL 100000
CMOVE 250000, INCR, S-CURVE
Figure 7-15. Jumping After the Midpoint of Acceleration or Deceleration
S-CURVE Jumps before the Midpoint of Acceleration or Deceleration
If a jump takes place before the midpoint of acceleration or deceleration, the result depends on
whether the velocity at the jump destination is higher or lower than the velocity before the jump
took place. In the first case, when accelerating but the new velocity is lower, or decelerating and
the new velocity is greater, the DSM314 will immediately begin reducing the acceleration or
deceleration to zero. Once at zero velocity, the DSM314 will use the jump destination acceleration
and velocity and change to the new velocity.
Example 13: S-CURVE - Jumping Before the Midpoint of Acceleration or
Deceleration
In the following example, during the acceleration of the first CMOVE, a jump takes place at the
first dashed line. Because the velocity at the jump destination is lower than the velocity of the
first CMOVE the DSM314 slows the acceleration to zero. Constant velocity, zero acceleration,
occurs at the second dashed line. There, the DSM314 begins decelerating to the new velocity
using the acceleration at the jump destination. Finally, the second CMOVE finishes.
ACCEL 1000
VELOC 50000
1: JUMP CTL01, 3
CMOVE 50000, INCR, S-CURVE
3: VELOC 5000
ACCEL 10000
CMOVE 15000, INCR, S-CURVE
Figure 7-16. Jumping before the Midpoint of Acceleration or Deceleration