SD812F 3BDH000014R1 Control module

General Velocity Profiles The Contour Mode is ideal for generating any arbitrary velocity profiles. The velocity profile can be specified as a mathematical function or as a collection of points. The design includes two parts: Generating an array with data points and running the program. Example Generating an Array Consider the velocity and position profiles shown in Fig. 6.7. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration.A complete program to generate the contour movement in this example is given below. To generate an array, we compute the position value at intervals of 8 ms. This is stored at the array pos. Then, the difference between the positions is computed and is stored in the array dir. Finally the motors are run in the contour mode.

Ecam master example 

Suppose that the motion of the AB axes is constrained along a path that can be described by an electronic cam table. Further assume that the ecam master is not an external encoder but has to be a controlled variable. This can be achieved by defining the N axis as the master with the command EAN and setting the modulo of the master with a command such as EMN= 4000. Next, the table is constructed. To move the constrained axes, simply command the N axis in the jog mode or with the PR and PA commands.

Sinusoidal Motion Example 

The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a frequency of 20 Hz. This can be performed by commanding the A and N axes to perform circular motion. Note that the value of VS must be When configured for stepper motor operation, several commands are interpreted differently than from servo mode. The following describes operation with stepper motors. Specifying Stepper Motor Operation In order to command stepper motor operation, the appropriate stepper mode jumpers must be installed. See chapter 2 for this installation.

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