Yaskawa LEGEND-MC - Manual (Page 269)

259
LEGEND-MC User’s Manual
6 Programming Motion
Overview
The LEGEND-MC provides several modes of motion, including independent positioning and jogging,
coordinated motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed
in the following sections.
The LEGEND-MC is a single axis controller and uses X-axis motion only. The example applications
described below will help guide you to the appropriate mode of motion.
Example Application Mode of Motion Commands
Absolute or relative positioning where
each axis is independent and follows
prescribed velocity profile. Independent Axis Positioning PA,PR
SP,AC,DC
Velocity control where no final endpoint is
prescribed. Motion stops on Stop
command. Independent Jogging JG
AC,DC
ST
Motion Path described as incremental
position points versus time. Contour Mode CM
CD
DT
WC
1 motion where path is described by linear
segments. Linear Interpolation LM
LI,LE
VS,VR
VA,VD
Electronic gearing where slave axis is
scaled to master axis which can move in
both directions. Electronic Gearing GA
GR
Master/slave where slave axes must follow
a master such as conveyer speed. Electronic Gearing GA
GR
Moving along arbitrary profiles or
mathematically prescribed profiles such as
sine or cosine trajectories. Contour Mode CM
CD
DT
WC
Teaching or Record and Play Back Contour Mode with Automatic
Array Capture CM
CD
DT
WC
RA
RD
RC
Backlash Correction Dual Loop DV