Syntax
MODE PSC |
MODE Position S-curve |
| Operands | – |
Binary code
| Description | Sets the drive/motor to operate in the S-curve profile mode. In this mode, the drive/motor performs a position control. The built-in reference generator computes a position profile with an S-curve shape of the speed. This shape is due to the jerk limitation, leading to a trapezoidal or triangular profile for the acceleration and an S-curve profile for the speed. You specify either a position to reach in absolute mode or a position increment in relative mode, plus the slew (maximum travel) speed, the maximum acceleration/deceleration rate and the jerk rate. The jerk rate is set indirectly via the jerk time, which represents the time needed to reach the maximum acceleration starting from zero |
The new motion mode becomes effective at the next update command UPD.
Example
// S-curve profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
TJERK = 50;//jerk = 2e+004[rad/s^3]
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 33.3333;//slew speed = 1000[rpm]
CPOS = 20000;//position command = 10[rot]
CPR; //position command is relative
MODE PSC; // set S-curve profile mode
SRB ACR, 0xFFFE, 0x0000; //Stop using an S-curve profile
UPD; //execute immediate
!MC; WAIT!; //wait for completion