Yaskawa LEGEND-MC - Manual (Page 343)

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LEGEND-MC User’s Manual
Example - Multiple Move Sequence
Required Motion Profiles:
This specifies relative position movement on the X axis. The movement is separated by 40 msec.
The following illustration - Velocity Profiles of XY shows the velocity profiles for the X and Y axis.
Velocity Profiles of XY
Notes on Velocity Profiles of XY illustration: The X axis has a ‘trapezoidal’ velocity profile, while the Y axis has a
‘triangular’ velocity profile. The X axis accelerates to the specified speed, moves at this constant speed, and then
decelerates such that the final position agrees with the commanded position, PR. The Y axis accelerates, but before
the specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position.
X-Axis 2000 counts Position Y-Axis 100 counts Position
15000 count/sec Speed 5000 count/sec Speed
500000 counts/sec
2 Acceleration
500000 counts/sec
2 Acceleration
Instruction Interpretation
#A Begin Program
PR 2000,100 Specify relative position movement of 2000 and 100 counts for the X
and Y axes.
SP 15000,5000 Specify speed of 15000 and 5000 counts / sec
AC 500000,500000
Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000 Specify deceleration of 500000 counts / sec 2 for all axes
BG X Begin motion on the X axis
WT 40 Wait 40 msec
BG Y Begin motion on the Y axis
EN End Program
VELOCITY
(COUNTS/SEC)
20000
10000
5000
15000
20 40 60 80
TIME (ms)
100
X axis velocity profile
Y axis velocity profile
0