Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 52)

10 Motion Generator: Features and Functions
Page 52 User Manual for PMotion
10.3 Summary of Segment Types and their Parameters
The following table summaries the variables used for each segment type in the controller
internal motion generator:
Segment Type $MMnn $MSnn $MFnn $MAnn $MBnn $MCnn $MXnn $MYnn $MZnn $MWnn
Constant Position
>
0
Constant Velocity
>
1 Start
Velocity *
>
Constant
Acceleration
> >
2 Start % End %
>
Sine-Squared
Velocity
> >
3 Start % End %
>
Cycloidal
> >
4 Start % End %
>
Modified
Trapezoidal
> >
5 Start % End %
>
Modified Sine
> >
6 Start % End %
>
Triple Harmonic
> >
7 1.
Harmonic
2.
Harmonic
3.
Harmonic
>
Sinusoidal
>
r 8 Amplitude Cycle
Start
No. of
Cycles
>
Polynomial
> >
9 Start
Velocity
Start
Accel.
Start
Jerk
End
Velocity
End
Accel.
End
Jerk
>
Ramp
> >
10 Start % End %
>
Throw
> >
11 Extent of
Throw
>
Quadratic Spline
> >
13
Cubic Spline
> >
14
Sine-Constant-
Cosine
> >
15 Sin % Constant
%
Cosine % Start % End %
>
Simple Harmonic
> >
16 Start % End %
>
> Standard definition applies
r Variable may be present (and standard definition applies), but will not be used
The variable does not apply to the segment type
Short description of the meaning of the variable specific to the segment type
* Start velocity will only be required for segment type „Constant Velocity“ if the
velocity is not matched with previous segment.