Yaskawa LEGEND-MC - Manual (Page 340)

330
LEGEND-MC User’s Manual
Example of Linear Interpolation Motion:
Generating an Array
Consider the velocity and position profiles shown in the following illustration - Velocity Profile with
Sinusoidal Acceleration . The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity
profile is sinusoidal to reduce the jerk and the system vibration. If we describe the position displacement
in terms of A counts in B milliseconds, we can describe the motion in the following manner:
ω = (A/B) [1 - cos (2πΤ/B)]
X = (AT/B) - (A/2
π)sin (2πΤ/B)
NOTE:
ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.
In the given example, A=6000 and B=120, the position and velocity profiles are:
X = 50T - (6000/2
π) sin (2π T/120)
Note that the velocity,
ω
, in count/ms, is
ω = 50 [1 - cos 2π T/120]
Instruction Interpretation
#LMOVE Label
DP 0,0 Define position of X and Y axes to be 0
LMX Define linear mode between X and Y axes.
LI 5000 Specify first linear segment
LI 0 Specify second linear segment
LE End linear segments
VS 4000 Specify vector speed
BGS Begin motion sequence
AV 4000 Set trippoint to wait until vector distance of 4000 is reached
VS 1000 Change vector speed
AV 5000 Set trippoint to wait until vector distance of 5000 is reached
VS 4000 Change vector speed
EN Program end