Generating an array – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
Example of Linear Interpolation Motion
Generating an Array
Consider the velocity and position profiles shown in the following illustration -
. 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