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DMC-3425 Chapter 6 Programming Motion• 71
10000 count/sec Speed
500000 counts/sec
2
Acceleration/Deceleration
C-Axis 100 counts Position
5000 counts/sec Speed
500000 counts/sec Acceleration/Deceleration
This example will specify a relative position movement on A, B and C axes. The movement on each
axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the A,B and C axis.
Instruction Interpretation
#A Begin Program
PR 1000,500,100
Specify relative position movement of 1000, 500 and 100 counts
for A,B and C axes.
SP 15000,10000,5000 Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000 Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000,500000 Specify deceleration of 500000 counts / sec
2
for all axes
BG A Begin motion on the A axis
WT 20 Wait 20 msec
BG B Begin motion on the B axis
WT 20 Wait 20 msec
BG C Begin motion on C axis
EN End Program
VELOCITY
(COUNTS/SEC)
20000
10000
5000
15000
20
40 60
80
TIME (ms)
100
A axis velocity profile
B axis velocity profile
C axis velocity profile
0
Figure 6.1 - Velocity Profiles of ABC
Notes on fig 6.1: The A and B axis have a ‘trapezoidal’ velocity profile, while the C axis has a
‘triangular’ velocity profile. The A and B axes accelerate to the specified speed, move at this constant
speed, and then decelerate such that the final position agrees with the command position, PR. The C
axis accelerates, but before the specified speed is achieved, must begin deceleration such that the axis
will stop at the commanded position. All 3 axes have the same acceleration and deceleration rate,
hence, the slope of the rising and falling edges of all 3 velocity profiles are the same.