Parker Hannifin
Coordinated Moves Profiler
The Coordinated Moves Profiler (formerly called the current position
profiler) controls motion for multiple axes using a single set of motion
profile values. The MOV command (Define a Linear Move)
commands absolute and incremental motion.
NOTE: The MOV command is not necessary for coordinated
motion. The controller recognizes the axis name and a value
as commanded motion, such as X500.
Multiple axes can be commanded in a single code
statement, such as X500 Y100; the motion is coordinated.
No matter what the designed application is, the controller must first
be configured for coordinated (linear interpolated) motion. This
does not limit the user from simultaneously using the other motion
profilers—jog, gear, or cam. Information regarding which elements it
is working with is provided to the Coordinated Moves Profiler by the
master, slave, and axis attachment statements. The other motion
profilers look to the Coordinated Moves Profiler for the configuration
data. For more information about making attachments, see
Attachments
.
When multiple axes are moving, the Coordinated Moves Profiler
computes the vector based on all the axes target points. The vector
moves at the values set through the motion profile (ACC, DEC, STP,
and VEL), and is scaled for each axis. Therefore, all axes start,
accelerate, decelerate, and stop at the same time.
When only one axis is moving, the ACC, VEL, and STP are the same
as the master.
NOTE: The Coordinated Moves Profiler typically uses the clock as its
timebase.
Example 1
Two axes are attached to the same master and instructed to move
to absolute positions: axis X to 25 millimeters and axis Y to 15
millimeters. All axes start, accelerate, decelerate, and stop together.
ACC 750 DEC 750 VEL 75 STP 750
X25 Y15
Making Motion 63
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