HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

2000

 

 

Constant speed

 

 

 

 

 

 

Speed

 

(SP)

 

 

 

1000

 

Acceleration

 

 

 

 

 

Deceleration

 

 

 

(AC)

 

 

 

 

 

 

(DC)

 

 

0

 

 

 

 

 

 

0

0.01

0.02

0.03

0.04

0.05

0.06

100

 

 

 

 

 

 

 

Position

 

 

 

 

 

50

 

 

 

 

 

 

0

 

 

 

 

 

 

0

0.01

0.02

0.03

0.04

0.05

0.06

With shorter movement, the deceleration begins before the limit speed is reached, so that the SP speed limit is not effective. This situation is depicted in the figure below:

1000

 

 

 

 

 

 

 

Speed

 

DC

 

 

 

500

 

 

 

 

 

 

 

AC

 

 

 

 

0

 

 

 

 

 

 

-500

 

 

Time (sec)

 

 

 

 

 

 

 

 

 

0

0.01

0.02

0.03

0.04

0.05

0.06

10

 

 

 

 

 

 

 

Position

 

 

 

 

 

5

 

 

 

 

 

 

0

Time (sec)

 

0

0.01

0.02

0.03

0.04

0.05

0.06

12.1.4.3More Complicated PTP Motions

PTP motions may be initiated any time, using the PA command, not necessarily from a stationary state. The PTP decisions, made every position control cycle, are given in the flow chart below.

136

Page 138
Image 138
Elmo HARmonica, HARSFEN0602 software manual 136, More Complicated PTP Motions