User guide

148 6000 Series Programmer's Guide
Example
In this example, Axis 1 executes a pure S-curve profile that takes 1 second to reach a velocity
of 5 rps and 1 second to return to zero velocity. Axis 2 executes a trapezoidal profile that
takes 0.5 seconds to reach a velocity of 5 rps and 0.5 seconds to return to zero velocity.
@SFB1 ; Select encoder feedback
@ERES4000 ; Set resolution to 4000
; steps/rev
SCALE0 ; Disable scaling
@MA0 ; Select incremental
; positioning mode
@D50000 ; Set distances to 50,000
; positive counts
A10,10 ; Set max. accel to 10
; revs/sec/sec
(both axes)
AA5,10 ; Set avg. accel to 5
; revs/sec/sec on axis 1, and
; 10 revs/sec/sec on axis 2
AD10,10 ; Set max. decel to 10 revs/sec/sec
(both axes)
ADA5,10 ; Set avg. decel to 5 r/s/s on axis 1, and 10 r/s/s on axis 2
V5,5 ; Set velocity to 5 revs/sec on both axes
GO11 ; Execute motion on both axes
T
Axis 2
V
0123
T
Axis 1
V
0123
Timed Data Streaming (bus-based steppers only)
The Timed Data Streaming (Streaming) modes allow you precise multi-axis distance and
velocity control. Data streaming is accomplished by dividing the motion profile into small
straight-line segments, allowing you to control the profile shape with greater accuracy.
Time-distance streaming (STREAM1) allows you to control the number of steps output over a
given time period.
Time-velocity streaming (STREAM2) allows you to control the frequency of the step output
over a given period of time.
To produce a data streaming profile, you must do the following:
1. Establish the streaming update interval (STD). This interval can be any multiple of 2
beginning with 10 milliseconds and ending with 50.
2. Enable the desired streaming mode. STREAM1 for time-distance streaming, or
STREAM2 for time-velocity streaming.
3. Send datapoints via SD commands. Streaming Data (SD) commands allow you to
change distance or velocity values and enable certain streaming functions (see table
below). The SD command syntax is SD<i>,<i>,<i>,<i>, where each data or
function assignment (<i>) represents one datapoint. As many as four datapoints are
possible per SD command—one for each axis. The nine types of datapoints are listed
in the table below.
Function of the SD Command Range for <i> ( Datapoint )
Distance or velocity data 0 to ±32767
Wait for input pattern * 1bbbbbbbb (b = 0 or 1)
Set outputs * 2bbbbbbbb (b = 0 or 1)
Set mask * 3bbbbbbbb (b = 0 or 1)
Set loop * 400000000 to 499999999
End loop * 500000000
Terminate loop 600000000
Exit streaming mode 700000000
Set negative-travel direction 800000000
* These functions must be assigned in the SD data field that corresponds to the first streaming axis. For
example, if you enabled the Distance Streaming Mode for axes 3 & 4 (STREAM,,1,1), the Set Loop
datapoint 4ØØØØØØ12 must be entered in the third axis' data field (SD,,4ØØØØØØ12).