Programming, Distance (units) – Lenze E94P PositionServo with MVOB User Manual
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Programming
The profile shown in Figure 20 can be broken up into 8 MDV moves. The first segment defines the distance between
point 1 and point 2 and the velocity at point 2. So, if the distance between point 1 and 2 was 3 units and the velocity at
point 2 was 56 Units/S, the command would be: MDV 3 , 56. The second segment gives the distance between point 2
and 3 and the velocity at point 3, and so on.
65
55
45
35
25
15
5
5
10
15
20
25
30
Point
1
Point
2
Point
4
Point
3
Point
8
Point
9
Point
6
Point
5
Point
7
Distance (units)
Figure 20: MDV Segment Example
Table 15 lists the supporting data for the graph in Figure 20.
Table 15: MDV Segment Example
Segment Number
Distance moved during segment
Velocity at the end of segment
1
3
56
2
3
12
3
4
16
4
2
57
5
2.5
57
6
3
11
7
5
20
8
5
0
-
-
-
;Segment moves
MDV 3 , 56
MDV 3 , 12
MDV 4 , 16
MDV 2 , 57
MDV 2.5 , 57
MDV 3 , 11
MDV 5 , 20
MDV 5 , 0
END
The following equation can be used to calculate the acceleration / deceleration that results from a segment move.
Accel = (V
f
2
- V
0
2
) / [2*D]
V
f
= Final velocity
V
0
= Starting velocity
D
= Distance