Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 49)

10 Motion Generator: Features and Functions
User Manual for PMotion Page 49
10
Motion Generator: Features and Functions
This section contains detailed explanations of certain features of the motion generator and
some summaries of the information contained in the previous section (Segment types).
10.1
Start and End Percentages of a Segment
For the following segment types it is possible to define, which part of the segment is used:
2: Constant
Acceleration
3: Sine-Squared Velocity
4: Cycloidal
5: Modified
Trapezoidal
6: Modified Sine
10: Ramp
14: Sine-Constant-Cosine
15: Simple Harmonic
The entry of the percentage values is done by using the variables $MXnn und $MYnn for the
controller internal motion generator and in PMotion by pressing the button „Type parameters“ in
the segment parameters toolbar.
Scaling:
• PC based motion generator (PMotion):
Required percentage values, entered directly in the text entry boxes in the dialog „Type
parameters“.
• Controller internal motion generator:
Required percentage values x10 6 , into variables $MXnn and $MYnn ($MXnn+$MYnn ≤
100%).
The following diagram illustrates the effect of setting both the start and end percentages to
values ≠ 0 for the segment type „Constant acceleration“.
$MXnn
Anfang [%]
$MYnn
Ende [%]
By changing the start and end percentage special segment profiles can be created, e. g. a
modified sine profile with no deceleration and with an acceleration ≠ 0 at the end of the
segment.