Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 35)

9 Segment Types
User Manual for PMotion Page 35
9.3 Segment Type "Constant Acceleration
"
In this segment type the acceleration is fixed at a constant value.
For the first half of the segment the acceleration is positive, for
the second half it is negative. The difference between start and
end positions determines the value of the acceleration and
deceleration.
Parameters:
• Segment type $MFnn=2
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not matched
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn= sets end segment master position
• Slave end position $MSnn= sets end segment slave position
• Percentage of segment used: Start at $MXnn= & end at $MYnn= (see
chapter 10.1 page 49)