ABB BRC300 P-HC-BRC-30000000 Controller

The vector speed may be specified by the immediate command VS. It can also be attached to a motion segment with the instructions VP x,y < n >m CR r,θ,δ < n >m The first parameter,m, requires the vector speed to reach the value m at the end of the segment. Note that the function > m may start the deceleration within the given segment or during previous segments, as needed to meet the final speed requirement, under the given values of VA and VD. Note, however, that the controller works with one > m command at a time. As a consequence, one function may be masked by another. For example, if the function >100000 is followed by >5000, and the distance for deceleration is not sufficient, the second condition will not be met. The controller will attempt to lower the speed to 5000, but will reach that at a different point. 

Changing Feedrate

 The command VR n allows the feedrate, VS, to be scaled from 0 and 10 times with a resolution of .0001. This command takes effect immediately and causes VS scaled. VR also applies when the vector speed is specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the accelerations. For example, VR .5 results in the specification VS 2000 act as VS 1000. Compensating for Differences in Encoder Resolution: By default, the DMC-18x2 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES command accepts two arguments which represent the ratio of the encoder resolutions. For more information refer to ES in the Command Reference.

Tangent Motion

 Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the coordinated motion path. To handle these applications, the DMC-18x2 allows one axis to be specified as the tangent axis. The VM command provides parameter specifications for describing the coordinated axes and the tangent axis. VM m,n,p m,n specifies coordinated axes p specifies the tangent axis such as X,Y,Z,W p=N turns off tangent axis Before the tangent mode can operate, it is necessary to assign an axis via the VM command and define its offset and scale factor via the TN m,n command. m defines the scale factor in counts/degree and n defines the tangent axis encoder position that corresponds to zero degrees. The operand _TN can be used to return the initial position of the tangent axis. Refer to TN in the Command Reference.

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