Elmo HARmonica, HARSFEN0602 software manual 136, More Complicated PTP Motions

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.

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