Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 40)

9 Segment Types
Page 40 User Manual for PMotion
9.8 Segment Type "Sinusoidal
"
This segment type is a sine wave in master – slave position. Start position (in terms of
degrees), Amplitude (in slave axis units) and the number of sine wave cycles used for the
segment can be set.
These three parameters determine the slave end position and the velocity and acceleration
within the segment. Due to the default setting “velocity matched with previous segment“ the
curve often looks like a „S“ instead of a sine wave. This is because a sine wave doesn’t start
with zero velocity and the end velocity of other segments is zero.
Parameters:
• Segment type $MFnn=8
• Segment start constraints: [P matched], V matched ($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, value will be ignored
by the motion generator, because end position is determined by other parameters.
• Amplitude of sine wave $MAnn in encoder counts (inc.).
• Cycle start angle $MBnn in degrees x 10 6 .
• Number of sine wave cycles $MCnn (no units x 10 6 ).