Instruction Manual

Language Reference • Reference 189
Publication 1398-PM601A-EN-P — October 2000
WORDS
D, V
D, V Segments (Sticks) Motion
Purpose The Distance, Velocity (D, V) statement defines one move segment, or stick, of a com-
plex motion profile.
Syntax D = distance, V = velocity[, S]
distance The incremental distance in user units to be moved, which may
be a constant or a variable. Positive or negative distances may
be used to determine the direction of the move. All the dis-
tances of a profile composed of sticks must be the same sign. If
you need to reverse directions you need to first include a stick
that decelerates to zero. User units are defined by the SCALE
parameter.
velocity The final velocity for the stick move, in user units per Time-
base. The velocity is always positive and may be a constant, a
nonvolatile variable Gn, a volatile variable Vn or a system vari-
able. Negative values are treated as if they are positive. Direc-
tion is specified by the sign of the distance argument.
S Optionally used to specify that an S-curve acceleration or decel-
eration will be used for the move. If the S-curve is specified the
time to complete the stick will be the same as it would take to
complete a linear stick. The peak acceleration of the S-curve
stick will be twice as high as the acceleration of the equivalent
linear move, but the acceleration of the motor will be much
smoother than with a linear acceleration move. This is particu-
larly useful when a flexible coupling is used.