Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 48)

9 Segment Types
Page 48 User Manual for PMotion
9.15
Segment Type "Simple Harmonic
"
This segment type has an acceleration profile of the first half of
a cosine wave. The magnitude of the acceleration profile is set
by the master position increment and the slave position change.
It is possible to use only parts of the segment by entering start
and end percentage values. This segment type is useful for
systems with some backlash at low to medium speeds.
Parameters:
• Segment type $MFnn=15
• Segment start constraints: [P matched], V matched ($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
• Percentage of segment used: Start at $MXnn= & End at $MYnn= (see
chapter 10.1 page 49).