Kollmorgen M-SS-005-03 Benutzerhandbuch
Single-Axis Motion
06/2005
Danaher Motion
94 Rev
E
M-SS-005-03l
As you can see, the motor comes to rest because the MC waits for the
following error to be small enough before proceeding to the next command.
following error to be small enough before proceeding to the next command.
MainAxis.PESettle = 0.01
MainAxis.Tsettle = 10
Move MainAxis 100
Move MainAxis 200 StartType=InPos
MainAxis.Tsettle = 10
Move MainAxis 100
Move MainAxis 200 StartType=InPos
Normally, the ending speed of MOVE defaults to zero. However, you can
specify an end speed other than zero (Non-Zero End Moves). To do this,
use <axis>.VELOCITYFINAL. VELOCITYFINAL must be specified on the
same line as MOVE. For example,
specify an end speed other than zero (Non-Zero End Moves). To do this,
use <axis>.VELOCITYFINAL. VELOCITYFINAL must be specified on the
same line as MOVE. For example,
A1.VelocityCruise = 2000
Move A1 100 VelocityFinal = 1000
Move A1 100 VelocityFinal = 1000
or
Move A1 100 VelocityCruise = 2000 VelocityFinal = 1000
both produce the next profile.
You seldom want to use a single move with a non-zero final velocity because
motion continues until the specified ending position and abruptly begins
decelerating to zero. The final position is not specified. Normally, moves with
non-zero final velocities are used to build multi-step profiles.
motion continues until the specified ending position and abruptly begins
decelerating to zero. The final position is not specified. Normally, moves with
non-zero final velocities are used to build multi-step profiles.