Delta Tau PMAC VME User Manual

PMAC Quick Reference Guide
50 Motion Programs
TS0 ; No S-curve component
TM250 ; Move time is 250 msec, TM
1
X10 ; Move distance is 10 units, 20000 counts
TA250 ; Acceleration \ deceleration of the blended move is
250 msec , TA
2
X40 ; Move distance is 40 units, 80000 counts
CLOSE
2. The two move commands are plotted without blending, placing a DWELL0 command in between the
two moves:
3. The two moves are now plotted with the blending mode activated. To find out the blending point,
trace straight lines through the middle point of each acceleration lines of both velocity profiles:
Observations
1. The total move time is given by: msec 675 125250 250 50
2
2
TA
2
TM
1
TM
2
1
TA
=+++=+++
2. The acceleration of the second blended move can be extended only up to a certain limit, 2*(TM- ½ TA):

Delta Tau PMAC VME Specifications

General

Brand	Delta Tau
Model	PMAC VME
Category	Controller
Language	English