ACR Electronics FPR-10 PROGRAMMER Manual descarregar pdf (Página 85)

Parker Hannifin

Making Motion 85

Combining Types of Motion

The user can command multiple types of motion (linear, circular, or

sinusoidal) in a single statement. The controller coordinates the

motion of all axes in the statement regardless of the type of motion.

Example

The following illustrates a coordinated move where the X axis

performs linear-interpolation and the Y axis performs sinusoidal

interpolation.

X2 SINE Y(0,90,90,100)

Immediate Mode

While a program is running, the master velocity can be changed for

a master (and all axes attached to it). The change is instantaneous,

and takes effect even if the axis or axes are moving.

Use the FOV (Set Feedrate Override) command to set a floating-

point scaling factor to adjust the master velocity. If a move is in

progress, the master uses the established acceleration or

deceleration ramp to adjust to the new velocity.

NOTE: The FOV command does not change the master velocity

permanently and the change is not saved. To make a

permanent change, adjust the master velocity in the

program code either manually or through the Configuration

Wizard.

For more information about feedrate override, see the FOV

command in the ACR Command Language Reference.

Example

The following is typed in at the prompt by the user. It reduces the

master velocity for all attached axes to 75%, then 50%, and then

returns the velocity to 100%.

FOV 0.75

FOV 0.50

FOV 1.00

Differences Between FOV and VEL

While a program is running, both the FOV and VEL (Set Target

Velocity for a Move) commands can be set, but each affects

motion differently:

• FOV immediately affects all axes attached to the master.

• VEL is buffered in memory. The newly commanded velocity

does not take effect until current motion is completed.

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ACR Electronics FPR-10 PROGRAMMER Manual Página 85