Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 47)

9 Segment Types
User Manual for PMotion Page 47
9.14
Segment Type "Sine-Constant-Cosine
"
The „Sine-Constant-Cosine“ type is a very adjustable segment
type and is often be used in place of other segment types with
sine and cosine acceleration profiles. The acceleration profile is
a sine wave followed by a constant area and a cosine wave. It
is possible to modify the segment portions by changing the
relevant percentage values and so to create very complex
shapes. The magnitude of the acceleration is set by the master
increment and the slave position change.
Parameters:
• Segment type $MFnn=14
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not defined
($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 sine acceleration at segment start $MAnn in percent x 10 6 (range 0 to
100%).
• Length of constant acceleration in the middle of the segment $MBnn in percent x
10 6 (range 0 to 100%).
• Length of cosine acceleration at segment end $MCnn in percent x 10 6 (range 0 to
100%).
• Percentage of segment used: Start at $MXnn= & End at $MYnn= (see
chapter 10.1 page 49)
Note: $MAnn + $MBnn + $MCnn = 100%