User Manual Chapter 7
GFK-1742F Jan 2020
Programmed Motion 205
Example 11: Jump Followed by PMOVE
In this JUMP example, the command after the JUMP is a PMOVE in the same direction. The
velocity profile below shows the acceleration and movement for the first CMOVE and the
deceleration to the PMOVE’s velocity. The CTL01 bit, OFF when the PMOVE begins, turns
ON at the second dashed line. Motion stops after a PMOVE, even if a conditional jump goes
to another block. Thus the CTL01 bit triggers a deceleration to zero before the final CMOVE
begins.
Figure 82: Jump Followed by PMOVE
S-CURVE Jumps
Jumps during linear motion and jumps during s-curve motion at constant velocities
immediately begin accelerating or decelerating to a new velocity. Jumps during a s-curve
acceleration or deceleration, however, require different rules in order to maintain a s-curve
profile. What happens when a jump occurs during an s-curve move while changing velocity
depends on whether the jump occurs before or after the midpoint (the point where the
acceleration magnitude is greatest) and whether the velocity at the jump destination is
higher or lower than the current velocity.
S-CURVE Jumps after the Midpoint of Acceleration or Deceleration
If the jump occurs after the midpoint of the change in velocity, the change will continue
normally until constant velocity is reached; then the velocity will be changed to the new
velocity using the acceleration mode of the move at the jump destination.
To Next Page
Loading...
