Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 33)

9 Segment Types
User Manual for PMotion Page 33
9.1 Segment Type "Constant Position
"
This segment type is a polynomial segment with both the
velocity and the acceleration fixed to zero. The slave position
remains constant throughout at the end value of the previous
segment. This means that only the position is matched from the
previous segment, which can lead to an instantaneous change
in velocity.
Parameters:
• Segment type $MFnn=0
• Segment start constraints: [P matched, V, A & J not defined]
• Segment end constraints: [P, V, A & J not defined]
• $MWnn=20000000
• Master end position $MMnn= sets end segment master position
Slave end position $MSnn= will be identical in value to $MSnn-1