Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 3)

2 Contents
User Manual for PMotion Page 3
2 Contents
1 General Information 2
1.1 Copyright ................................................................................................ 2
1.2 Notice ..................................................................................................... 2
1.3 Previously published editions ................................................................. 2
2 Contents 3
3 Abbreviations and Symbols 5
3.1 Abbreviations .......................................................................................... 5
3.2 Symbols .................................................................................................. 5
4 Safety Guidelines 6
5 About this manual 7
6 Introduction 8
6.1 Installation under Microsoft Windows ..................................................... 8
6.2 Hardware requirements .......................................................................... 8
6.3 General Description ................................................................................ 9
6.3.1 Designations ........................................................................................... 9
6.3.2 Motion Generator Overview .................................................................... 10
7 PC based Motion Generator PMotion 12
7.1 Introduction ............................................................................................. 12
7.2 Menus ..................................................................................................... 13
7.2.1 Menu "File" ............................................................................................. 13
7.2.2 Menu "Edit" ............................................................................................. 13
7.2.3 Menu "View" ........................................................................................... 14
7.2.4 Menu "Create" ........................................................................................ 15
7.2.5 Menu "Programs" ................................................................................... 16
7.2.6 Menu "Window" ...................................................................................... 16
7.3 Toolbar ................................................................................................... 17
7.4 Map Settings ........................................................................................... 18
7.4.1 Property Page „Map“ .............................................................................. 18
7.4.2 Property Page “Master” .......................................................................... 19
7.4.3 Property Page “Slave” ............................................................................ 20
7.4.4 Property Page "Machine Parameters" .................................................... 21
7.5 Edit Segment parameters ....................................................................... 22
7.6 Create a map .......................................................................................... 24
7.6.1 Map Table .............................................................................................. 24
7.6.2 Map Sequence ....................................................................................... 24
7.7 Example of using the PC based Motion Generator PMotion .................. 25
8 Internal Motion Generator 28
8.1 Commands for Internal Motion Generator .............................................. 28
8.2 Messages displayed in terminal and in status variable $MSTATUS ....... 29
8.3 Example of using the internal Motion Generator ..................................... 30
9 Segment Types 32
9.1 Segment Type "Constant Position" ......................................................... 33
9.2 Segment Type "Constant Velocity" ......................................................... 34
9.3 Segment Type "Constant Acceleration" .................................................. 35
9.4 Segment Type "Sine-Squared Velocity" and "Cycloidal" ........................ 36
9.5 Segment Type "Modified Trapezoidal" ................................................... 37
9.6 Segment Type "Modified Sine" ............................................................... 38
9.7 Segment Type "Triple Harmonic" ........................................................... 39
9.8 Segment Type "Sinusoidal" .................................................................... 40
9.9 Segment Type "Polynomial" ................................................................... 41
9.10 Segment Type "Ramp" ........................................................................... 43