Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 39)

9 Segment Types
User Manual for PMotion Page 39
9.7 Segment Type "Triple Harmonic
"
This segment will always start and finish with zero velocity and
acceleration (the possibility to match velocity has been switched
off for this segment). The acceleration profile is defined by
following parameters: Three normalised amplitudes for the
harmonics used to construct the curve. These values form the
three coefficients of a three term fourier series. Example: set the
first harmonic to 2*Pi and both the second and third harmonics
to zero, then the acceleration profile will be identical to a
cycloidal segment. Usually only the first two harmonics have to
be specified and the third is calculated to satisfy the constraints
from the neighbouring segments.
Parameters:
• Segment type $MFnn=7
• Segment start constraints: [P matched], V matched ($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
• Amplitudes for the three harmonics are $MAnn, $MBnn and
$MCnn in normalised units of a three term fourier series x 10 6 .