Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 38)

9 Segment Types
Page 38 User Manual for PMotion
9.6 Segment Type "Modified Sine
"
For this segment type the magnitude is set by the master
position increment and the slave position change across the
segment. This type of segment is useful for systems with some
backlash and for medium or high speeds.
Parameters:
• Segment type $MFnn=6
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($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)