VELMEX VXM-3 - AppendixG Complex Profiles & Coordinated Motion

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Appendix G
Complex Profiles & Coordinated Motion
Coordinated Motion
Themostcommonmethodtomoveisoneaxisatatime. UsingoneVXMcontrollerthisis
theonlyoptionavailable. However,withtwoVXMsconnectedtogetherwiththeVXMbus
twoaxesatatimecanberun. AssumingtherearetwoVXMsconnectedbyabuscable,
thefollowing
commandscanbeutilizedtoproducecomplexcoordinatedmotionprofiles.
Complex Profiles
TheVXMautomaticallydoesasimpleprofilemoveeverytimeitisrequiredtoperforman
index. Thisprofileconsistsofaaccelerationsegment,slewsegment,andadeceleration
segment. UsingtheVXM’sContinuousindexingfeaturemorecomplexmotionprofiles
arepossible. InadditiontotheContinuousIndexcommandsdescribedinAppendix
D,
belowaretwomorespecificallyformakingcomplexprofiles.
U77 StartofContinuousIndexwithnooutput. Thiscommandissameasthe“U7”
exceptitdoesnotproducethepulseonuseroutput2.
Memoryusage=2 bytes.
U99 EndofContinuousIndexwithnodeceleration. Thiscommandissimilartothe
"U9"commandwithoutthedecelerationmoveafterthelastindex.
Memoryusage=2 bytes.
CAUTION: Themotorspeedshouldbebelow800steps/second,whentheVXM
executesthiscommand,topreventanexcessivelyhardstopthatmaycause
a
mechanicalovershootofintendedposition.
AsmentionedinAppendixD,speedcommandscanbeusedbetweenindexesinthe
continuousindexmode. Thenumberofspeedchangesislimitedonlybyavailable
programmemoryspace. Changesinspeedwilloccurattheaccelerationratesetbefore
thecontinuousindexmode.
Thisis
atypicalexampleofrunningtwomotorssequentiallywheneachaxisisona
differentVXM:
Torunthesetwomotors(motor1andmotor3)thesametimerequiresadding“( )”around
theindexes. Thisexamplewillcombinetheindexcommandstorunsimultaneously:
CombineIndexcommandstorunsimultaneouslyontwoVXMcontrollers
connectedbyVXMbus.
I1M400,I3M800,R
i3,i1,..
2 bytes
Example:
.
(I3M800,I1M400,)R
=indexcommands,slavemotor(3,4)first.
Memoryusage=
(i3,i1,..)