ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 241)

The parameters of PTP motion are summarized in the following table:
Parameter Action
AC Acceleration, in counts/second 2
DC Deceleration, in counts/second 2
SP Maximum speed, in counts/second
SF Smooth factor, in milliseconds
PR Relative position, in counts
PA Specifies that the next motion will be PTP, and the absolute target
position
Table 6-5: PTP Motion Parameters
The PA command plays more than one role. PA=n specifies that the next BG will start a
PTP motion. In addition, it specifies the target of the next PTP move.
In PTP mode, a BG command performs the following:
PA=PA+PR
Go to PA
where:
PA
is the absolute position target.
PR
is the relative position target, enabling the specification of an incremental move or a
series of incremental moves.
PR
is reset to zero by the
PA=n
command. Therefore,
PA=n;
BG
initiates a motion towards
n
.
The value of PA is incremented automatically with PR every time a new motion is
initiated. For example:
PA=0; BG; while(MS==0); PR=1000; BG; while(MS==0); BG; while(MS==0); BG
initiates four consecutive PTP motions, targeted at 0, 1000, 2000 and 3000 counts
respectively.
PTP example:
The simplest point-to-point motion is from a stationary position to another stationary
position. The acceleration and final speed limits are:
AC=100,000, DC=200,000, SP=2000,
starting from
PX=0 and PA=70; BG;
The following speed graph shows the acceleration, constant speed and deceleration in the
trajectory to the target.
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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