Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 54)

10 Motion Generator: Features and Functions
Page 54 User Manual for PMotion
• $MAnn, $MBnn, $MCnn, $MXnn, $MYnn & $MZnn: The meaning of the variables is
dependent on the segment type, as shown in the following table:
Segment
Type
Variables Description
1 $MAnn Start velocity, required only when „Value as
specified“ is selected using $MWnn.
2 $MXnn & $MYnn Start & End percentages x 10 6
3 $MXnn & $MYnn Start & End percentages x 10 6
4 $MXnn & $MYnn Start & End percentages x 10 6
5 $MXnn & $MYnn Start & End percentages x 10 6
6 $MXnn & $MYnn Start & End percentages x 10 6
7 $MAnn, $MBnn & $MCnn Normalised amplitudes of the three harmonics of
a three term fourier series x 10 6
8 $MAnn, $MBnn & $MCnn Amplitude (inc.), Cycle start angle (degrees x 10 6 )
and No. of cycles (no units x 10 6 )
9 $MAnn, $MBnn
$MCnn, $MXnn
$MYnn & $MZnn
Start & End derative values
(when applicable with $MWnn).
10 $MAnn & $MBnn Start & End percentages x 10 6
11 $MAnn Extent of throw (inc.)
13 $MAnn Slave end position (inc.)
15 $MAnn, $MBnn,
$MCnn,
$MXnn & $MYnn
Percentage x 10 6 of sine-, constant- or cosine
portion of the segment.
Start & End percentages x 10
6
16 $MXnn & $MYnn Start & End percentages x 10 6
• $MNAME specifies the name of the map.
• $MNPT specifies the number of points saved in the map table (max. 65536).
• $MSTART is a trigger variable to start calculation of a map. This variable is usually set to 1
at the end of a map sequence to start calculation.
• $MREADY is a trigger variable to indicate the status of map calculation. The variable is set
to 0 while calculating and to 1 when calculation is finished.
• $MSTATUS is a status variable used to return success or failure of map generation: Zero
indicates success, a non-zero value indicates failure (See chapter 8.2 Page 29).
• $MRESET is a trigger variable to set all variables to their default values.
• $MSAVE is used to save the map on the controller ($MSAVE=1) after generating or not
($MSAVE=0).