Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 42)

9 Segment Types
Page 42 User Manual for PMotion
• Master end position $MMnn= sets end segment master position
• Slave end position $MSnn= sets end segment slave position
• Derivative specification parameters are used when the segment constraint specifies that
the particular derivative is specified:
Segment
Boundary
Derivative Variable Units:
Slave encoder counts (inc.) per
Start
Velocity
Acceleration
Jerk
$MAnn
$MBnn
$MCnn
1x10 6 Master counts
1x10 8 Master counts 2
1x10 9 Master counts 3
End
Velocity
Acceleration
Jerk
$MXnn
$MYnn
$MZnn
1x10 6 Master counts
1x10 8 Master counts 2
1x10 9 Master counts 3
Examples: For every master position count:
$MAnn=1000000 means that slave position increases by 1 count.
$MAnn=-24000000 means that slave position decreases by 24 counts.
$MAnn=50000 means that slave position increases by 0.05 counts.
$MBnn=50000000 means that slave velocity increases by 0.5 counts per master count
(equivalent to a increase in $MAnn of 500000).
$MZnn=-2000000000 means that slave acceleration decreases by 2 counts per master count
(equivalent to a decrease in $MYnn of 200000000).