Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 329
Out of Box Configuration for PowerFlex Drives Appendix B
Programming with the MDSC
Function
Figure 111 shows an example of programming motion with the MDSC
functionality. In this example, we illustrate a 50.0 mm move.
Figure 111 - Slave Speed Control from Master with Lock Position, MDSC Time Based
Table 71 - Comparison of the Enumerations for the Motion Instructions
Revision Operand Units Type Profile
V19 and
earlier
Speed Units/sec Rate Trapezoidal, S-curve
(PJerk) Accel/Decel Units/sec
2
Rate
Jerk Units/sec
3
Rate
% of time Time
Speed, Accel/Decel, and Jerk % of max
% of units/sec
Rate
For instructions: MAM, MAJ, MCD, and MAS
V20 Speed Units/sec Rate Trapezoidal, S-curve
Sec Time Trapezoidal, S-curve
Master units Feedback Trapezoidal, S-curve
Accel/Decel Units/sec
2
Rate Trapezoidal, S-curve
Sec Time Trapezoidal, S-curve
Master units Feedback Trapezoidal, S-curve
Jerk Units/sec
2
Rate Trapezoidal, S-curve
Sec Time Trapezoidal, S-curve
Master units Feedback Trapezoidal, S-curve
For instructions, MDSC, MAM, MAJ, and MATC
Speed
Time
20 mm/s
Start
0.0 mm
Target Position
50.0 mm
Operational Speed
0.2 sec Master Programmed Total Move Time 0.2 sec
Programmed Total Move Time 1.2 sec
Slave: Speed= 2.0
2
MasterUnits, accel/decell = 2.0 [Master Units]
Lock Position = 10.0
10 mm/s
Slave Speed
2
or Master
Master
Lock Position
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