ACR Electronics FPR-10 PROGRAMMER Manual descarregar pdf (Página 96)

Parker Hannifin

96 Programmer’s Guide

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.

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ACR Electronics FPR-10 PROGRAMMER Manual Página 96