Specifications

BASIC commands

PROGRAMMING MANUAL 126

Revision 5.0

3.2.181 MOVELINK

Type Axis command

Syntax MOVELINK(distance, link_distance, link_acceleration,

link_deceleration, link_axis [ , link_option [ , link_position ]])

ML(distance, link_distance, link_acceleration, link_deceleration,

link_axis [ , link_option [ , link_position ]])

Description The MOVELINK command creates a linear move on the base axis linked via

a software gearbox to the measured position of a link axis. The link axis can

move in either direction to drive the output motion.

The parameters show the distance the BASE axis moves for a certain dis-

tance of the link axis (link_distance). The link axis distance is divided into

three phases that apply to the movement of the base axis. These parts are

the acceleration, the constant speed and the deceleration. The link accelera-

tion and deceleration distances are specified by the link_acceleration and

link_deceleration parameters. The constant speed link distance is derived

from the total link distance and these two parameters.

The three phases can be divided into separate MOVELINK commands or

can be added up together into one.

Consider the following two rules when setting up the MOVELINK command.

Rule 1: In an acceleration and deceleration phase with matching speed, the

link_distance must be twice the distance. See the figure.

Rule 2: In a constant speed phase with matching speeds, the two axes travel

the same distance so the distance to move must equal the link_distance.

MOVELINK works on the default basis axis group (set with BASE) unless

AXIS is used to specify a temporary base axis. The axis set for link_axis

drives the base axis.

MOVELINK is designed for controlling movements such as:

• Synchronization to conveyors

• Flying shears

• Thread chasing, tapping etc.

• Coil winding

Note: If the sum of link_acceleration and link_deceleration is greater than

link_distance, they are both reduced in proportion in order to equal the sum

to link_distance.