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Simpliq – ElmoMC SimplIQ Software Manual User Manual

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SimplIQ

Software Manual

The Position Reference Generator

MAN-SIMSW (Ver. 1.4)

11-5

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

11-5: 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.