Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 51)

10 Motion Generator: Features and Functions
User Manual for PMotion Page 51
Segment Type Segment end constraints
0: Constant Position
1: Constant Velocity
8: Sinusoidal
11: Throw P V A J not specified
2: Constant Acceleration
3: Sine-Squared Velocity
4: Cycloidal
5: Modified Trapezoidal
6: Modified Sine
7: Triple Harmonic
10: Ramp
13: Quadratic Spline
14: Cubic Spline
15: Sine-Constant-Cosine
16: Simple Harmonic P matched
V A J not specified
9: Polynomial P matched
V A J specified or not specified
Legend:
P: Position V: Velocity
A: Acceleration J: Jerk
• Matched means that the derivative value doesn’t change from the end of one segment to
the beginning of the next (matched with previous).
• Specified means that the derivative value can be set at that point on the segment (value
as specified).
• Not specified means that the derivative value cannot be altered at that point of the
segment (no value specified).