Installation guide

292 Application Examples
13.3 - Changing Velocity during motion
This program illustrates changing velocity of an axis
during a path motion and the velocity change is based on
position.
13.3.1 – Example Program
POSMODE(1,2)=1,1 ‘sets absolute position mode
SPEED(1)=10000 'set velocity to 10000 steps/sec
ACCEL(1,2)=20000,20000 'set acceleration to 20000 steps/sec
2
MOVEHOME(1,2)=1,1 'go to home position
WAITDONE (1,2) 'wait until axes 1 and 2 are at home position
PATH=1,2
FEEDRATE=0.5 'set velocity to 50% its value (0.5 x 10000 steps/s = 5000 steps/sec)
LINE=10000,0 'move to 10,000 steps
FEEDRATE=1.5 'change velocity to 1.5 x 10000 steps/s = 15000 steps/sec
LINE=90000,0 'move to 90,000 steps
FEEDRATE=1 'set velocity back to 100% (10000 steps/sec)
LINE=150000,0 'move to 150,000 steps
PATH END 'stop motion
END
10,000
Velocity (steps/sec)
15,000
0
5,000
012345678
Time (seconds)
Position 10,000 steps
Position 90,000 steps
Position 150,000 steps
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