ECODRIVE03-FL*-04VRS Functions 8-25
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Positioning Command Pxx with Pre-Set Cam
The positioning commands POI, PSI, POA, PSA are executed with a
ramp generator.
The process can be influenced by the values for acceleration,
deceleration and jerk. If this shape does not meet customer needs, the
axis can be positioned using a cam. Five pre-programmed cams (triangle)
and one user-programmable cam are available.
Cam startup and selection are executed using the CMM command. With
this command, it is possible to select cam/ramp generator in the program.
When the following Pxx commands are called, they provide the detection
velocity of the cam, based on the motion length and the maximum velocity
pre-set in the command. With this pre-calculation, positioning is delayed
by one cycle (2 ms).
Note: Limiting of the acceleration does not take place.
Note: After a started Pxx command with a cam, the positioning
distance and the velocity may no longer be changed.
Interrupt and Stop are only possible when the axis is stopped.
Commands:
CSY: Turn this function on.
CMM: Select the cam shape and select this function. (using
Mode = 2)
Marker Flags
Velocity and acceleration greater than 90% of the maximum
values. (Parameter AA09)
Program Example: Positioning Commands with Pre-Set
Cams
Syntax
Description
Loop CMM 1 01 03 2 0
Assignment of curve shape, function
CSY 1 0 0 0 00.00.0
Turn function on
PSI 1 10.000 999
Positioning with virtual master
WAI 2.000
CSY 0 0 0 0 00.00.0
Turn function off
PSI 1 -10.000 999
Positioning with standard ramp
WAI 2.000
JMP Loop
To Next Page
Loading...
