Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 44)

9 Segment Types
Page 44 User Manual for PMotion
9.11 Segment Type "Throw"
The segment type “Throw” starts with a smooth motion profile
and ends with both velocity and acceleration at zero, with a
slave position change of zero. The magnitude of the position
change at the midpoint of the segment is changeable. The
segment is symmetrical about the midpoint and should only be
used in preference to two sequential ramp segments.
Parameters:
• Segment type $MFnn=11
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P, 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 (value is identical with $MSnn-1).
• Extent of throw $MAnn in slave position units.