Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 43)

9 Segment Types
User Manual for PMotion Page 43
9.10 Segment Type "Ramp"
The profile of a ramp segment is shown in the diagram. The
width of the acceleration and deceleration pulses can be set
(here acceleration set to 20% and deceleration set to 40%).
Parameters:
• Segment type $MFnn=10
• Segment start constraints: [P matched], V matched ($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
• Length of acceleration pulse at segment start $MAnn and of deceleration pulse at
segment end $MBnn in percent x 10 6 (range 0 to 100%; $MAnn+$MBnn <=
100%).