Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 141)

Publication 1746-6.1.2 - July 2000
8-24 Programming the SLC Processor to Run the SLC Servo Module
Blending Incremental Moves
Blending Speed Moves
Figure 8.17 Speed Decreases, Direction Same
If an incremental move is
initiated while: The resulting move is:
Another incremental move is
executing The sum of the two move distances.
An absolute move is executing Equal to the sum of the target position for
the absolute move and the distance for the
incremental move.
A speed move is executing The sum of the current position and the
distance for the new incremental move.
If a speed move is initiated while
another move is executing and the
direction is: Then the axis:
The same Accelerates or decelerates to the new
speed, as shown in Figures 8.17 and
8.18.
Opposite Decelerates from the current speed at
the specified deceleration rate for the
old move before reversing and
accelerating to the new speed at the
newly specified acceleration rate, as
shown in Figure 8.19.
Velocity
Time
Initiate new Blend Speed move.
The speed direction for the new move is the same
as the speed direction for the old move.
The speed for the new move is less than the speed
for the old move.
0
0