Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 53)

10 Motion Generator: Features and Functions
User Manual for PMotion Page 53
10.4
Technical Information about the Motion Generator
This section details some technical information about the motion generator.
10.4.1 Maximum number of segments
The maximum number of segments of a map is limited by memory to 100 in both the PC based
motion generator PMotion and the controller internal motion generator.
10.4.2 Variable names used by the internal Motion Generator
Map start coordinates:
• $MM0: Master position (range ±4000000 inc.)
• $MS0: Slave position (range ±4000000 inc.)
For each segment (nn is 1 to 100 inclusive, leading zero when appropriate):
• $MFnn: Segment type (range 0 to15 inclusive, no units)
• $MMnn: Master position (range ±4000000 inc.).
• $MSnn: Slave position (range ±4000000 inc.).
• $MWnn: constraint word:
$MWnn – Entry Segment boundary Boundary constraint
Digit 8
Digit 7
Digit 6
Digit 5
Start
Position
Velocity
Acceleration
Jerk
Digit 4
Digit 3
Digit 2
Digit 1
End
Position
Velocity
Acceleration
Jerk
Each digit can be 0 (no value specified), 1 (value as specified) or 2 (matched with previous).
Valid entries will depend on the segment type.
• $MMSB: contains the master cycle length after calculation.
• $MSSB: contains the slave cycle length after calculation.