profile are as follows:
Follower Distance Units / Velocity Timescale.
And units of acceleration for a realtime move are
Foll Distance Units / Velocity Timescale / Accel Timescale.
A few examples of these units are as listed below.
Realtime
Follower Distance Units | Master Distance Units | Vel. Timescale | Accel Timescale | Velocity Units | Accel/Decel Units |
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Inches | N/A | Sec | Sec | Inches/Sec | Inches/Sec/Sec |
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Revs | N/A | Min | Sec | Rev/Min | Rev/Min/Sec |
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Degrees | N/A | Sec | msec | Degrees/Sec | Degrees/sec/msec |
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Based on these units, we see that velocity and acceleration of the motor are dependent upon actual time (minutes or seconds).
Selecting a Timebase of Synchronized means that all units of velocity and acceleration are a function of Master Distance rather than time. Therefore, the motor velocity acceleration and position are all functions of the position and velocity of the master axis. The units for velocity of a Synchronized move are as follows:
Follower Distance Units / Master Distance Unit
Therefore, the user specifies the number of follower distance units that the motor will travel per Master Distance
Unit. If the distance units for master and follower are the same, then the user in effect specifies a ratio for the velocity.
The acceleration units for a synchronized move are again a function of Master Distance. Acceleration and Deceleration units are as follows:
Follower Distance Units / Master Distance Unit / Master Distance Unit
A few examples of Synchronized motion units are listed in the table below.
Synchronized
Follower Distance Units | Master Distance Units | Vel. Timescale | Accel Timescale | Velocity Units | Accel/Decel Units | |
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Inches | MstrInch | N/A | N/A | Inches/MstrInch | Inches/MstrInch/ | |
MstrInch | ||||||
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Revs | MstrRev | N/A | N/A | Revs/MstrRev | Revs/MstrRev/MstrRev | |
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Degrees | MstrInch | N/A | N/A | Degrees/MstrInch | Degrees/MstrInch/ | |
MstrInch | ||||||
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5.7 Summing Multiple Profiles
Motor motion or "Axis" motion may be generated from either of two Profiles: Profile.0 and Profile.1. Each of these Profiles can run any type of motion (i.e. Home, Index, Jog, Gear) at any time. Both of the Profiles can generate motion simultaneously. For example while Gearing, an incremental index can be initiated "on top" of the Gear velocity using two separate profiles. The distance and velocity of the two profiles is summed to generate the overall position command and velocity command for the motor.
In order to run motion on both Profiles simultaneously, a program must be used. To specify which profile a motion object runs on, the On Profile instruction is used. The default Profile is Profile.0 and therefore it is unnecessary to specify On Profile.0 in user programs. If no Profile is specified, the default profile is used.
All motion run from the Assignments screen is automatically run on Profile 0. It is not possible to change
the Profile on which motion run from the Assignments screen operates. Therefore, in order to run motion from both the Assignments screen and from a program simultaneously, motion initiated by the program must be run on Profile 1.
Figure XX below shows an example to two separate profiles (Index 0 and Index 1). Each profile is shown individually, and then a summed profile diagram is shown to demonstrate what the overall profile looks like when the profiles are summed.
How Motion Works | www.emersonct.com | 29 |
