Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Writing and Executing Motion Programs
275
2a
a
L
L
t = 0
t = 2t
t = 2t
ACCEL
t = t
t = 0
ACCEL
t = t
L
L
t = 0
L
t = t
t = 0
t
t
L
0
MAX.
t
t
ACCEL
ACCELERATION
VELOCITY
Parabolic
Sinusoidal
S
S
ACCEL
t = 2t
S
ACCEL
t = 2t
S
TIME
S
S
S
S
S
TIME
t = t - 2t
L
ACCEL
S
For Comparison
Parabolic (sinusoidal)
for comparison
a
2
L
ACCEL
S
t = 2t +t
0
AUTOMATIC
"S" CURVE ACCELERATION
4
3
2
1
4
1
3
2
ACCEL
S
SPECIFY t AND t
AND ACCELERATION LIMIT
Acceleration Limits
Turbo PMAC provides an acceleration limit parameter Ixx17 for each Motor xx that can be used to
automatically limit the commanded rate of acceleration in linear-mode moves even if the motion program
requests a higher rate. The details of how this limiting function operates are dependent on the mode of
operation.
automatically limit the commanded rate of acceleration in linear-mode moves even if the motion program
requests a higher rate. The details of how this limiting function operates are dependent on the mode of
operation.
•
Segmentation mode not active (Isx13 = 0), special lookahead buffer not active (Isx20 = 0). This is the
simplest mode of operation. Circular interpolation is not permitted in this mode. Ixx17 acceleration
limits are active in this mode, but if the acceleration would have to be extended over more than a full
programmed move in order to observe the limit, the limit will be violated.
simplest mode of operation. Circular interpolation is not permitted in this mode. Ixx17 acceleration
limits are active in this mode, but if the acceleration would have to be extended over more than a full
programmed move in order to observe the limit, the limit will be violated.
•
Segmentation mode active (Isx13 > 0), special lookahead buffer not active (Isx20 = 0). This mode
permits circular interpolation and cutter-radius compensation, and to have circle-mode and linear-
mode moves to blend together, but the Ixx17 acceleration limits are not active in this mode.
permits circular interpolation and cutter-radius compensation, and to have circle-mode and linear-
mode moves to blend together, but the Ixx17 acceleration limits are not active in this mode.
•
Segmentation mode active (Isx13 > 0), special lookahead buffer active (Isx20 > 0, defined lookahead
buffer). This is the most sophisticated mode of operation. This mode permits circular interpolation
and cutter-radius compensation, to have circle-mode and linear-mode moves blend together, to have
the Ixx17 acceleration limits active for both linear and circle-mode moves, and to be able to extend
the acceleration over multiple programmed moves if necessary.
buffer). This is the most sophisticated mode of operation. This mode permits circular interpolation
and cutter-radius compensation, to have circle-mode and linear-mode moves blend together, to have
the Ixx17 acceleration limits active for both linear and circle-mode moves, and to be able to extend
the acceleration over multiple programmed moves if necessary.