Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 32)

9 Segment Types
Page 32 User Manual for PMotion
9 Segment Types
The following segment types are available in the motion generator (The index number refers to
the value that would be saved in the map variable $MFnn):
Index Segment Type
0 Constant Position
1 Constant Velocity
2 Constant Acceleration
3 Sine-Squared Velocity
4 Cycloidal
5 Modified Trapezoidal
6 Modified Sine
7 Triple Harmonic
8 Sinusoidal
9 Polynomial
10 Ramp
11 Throw
12
13 Quadratic Spline
14 Cubic Spline
15 Sine-Constant-Cosine
16 Simple Harmonic
In the following sections all segment types are described in more detail. The description
contains guidelines for using the segments and what parameters can be modified. Furthermore
a list of specific variables depending on the different segment types is given out.
The units of parameters refer to the controller internal motion generator. The following
abbreviations are used in the description:
P: Position
$: Variable
V: Velocity nn: Segment number: 01 to 100 is possible
A: Acceleration [...]: Parameters not alterable
J: Jerk
$MMnn und $MSnn must be entered in increments!