Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 36)

9 Segment Types
Page 36 User Manual for PMotion
9.4 Segment Type "Sine-Squared Velocity" and "Cycloidal"
Mathematically both the “Sine-Squared Velocity” segment type and
the “Cycloidal” segment type are identical. The acceleration profile
is one cycle of a sine wave, the length is set by the master position
increment and the magnitude is set by the slave position change
across the segment.
Parameters:
• Segment type $MFnn=3 for sine-squared velocity and $MFnn=4 for cycloidal
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20222222), [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)