Chapter 12 Troubleshooting
1
2. Motion Curve and Timing Charts:
As Vel_Ex changes to TRUE, Vel_Bsy changes to TRUE. One period later, Vel_Act changes to
TRUE and the servo motor starts to move forward. Vel_Invel changes to TRUE when the servo
motor reaches the target velocity.
As Stp_Ex changes to TRUE, Stp_Bsy changes to TRUE. One period later, Stp_Act changes
to TRUE, meanwhile Vel_Invel changes to FALSE, Vel_Abt changes to TRUE and the servo
motor starts to decelerate.
When the axis velocity is decreased to 0, Stp_Done changes to TRUE and meanwhile Stp_Bsy,
Stp_Act remain TRUE.
As Stp_Ex changes to FALSE, Stp_Done, Stp_Bsy and Stp_Act change to FALSE
simultaneously.
10000
Velocity
Time
Vel_Invel
Vel_Err
Vel_Ex
Vel_Abt
Vel_Bsy
Vel_Act
Vel
Stp_Done
Stp_Err
Stp_Ex
Stp_Abt
Stp_Bsy
Stp_Act
Stp
11-35
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