Parker PDHX-E Series User Manual page 42

V50 At a velocity of 50 revs/sec
TRIP Set defined Output when in position
Program Operation
When executing this program, the axis will first accelerate at 100 steps/rev
and when it reaches a distance of 4000 steps (2), its speed will be reduced to 1 rev/sec (3)
whilst it is waiting for the registration pulse. Shortly after the pulse is received (6), the axis
will accelerate towards 50 revs/sec, but will not reach the speed before starting to decelerate
(7) to stop at 1440 steps from where the pulse occurred (8).
If the pulse was not received after 6020 steps (4 - the hold off distance) and before 6200
steps (the incremental distance), the axis will stop at 6200 steps (9). This sets a window of
180 steps during which the pulse is expected.
Program Criteria
Motion Profiles
Velocity, acceleration and distance must be defined before any preset move can be
executed. The value of these parameters determines the type of motion profile as either
triangular or trapezoidal.
Triangular Profile
A triangular profile will result when the velocity and acceleration are set such that the
designed velocity is not attained before half of the specified distance has been travelled.
This results from either a very low acceleration or a very high velocity or both over a relatively
short distance. For example, if the acceleration is set to 1 rev/sec/sec, velocity is set to 5
revs/sec and distance is set to 16000 steps (2 revs), a triangular motion profile will result.
This is because by the time the motor shaft has reached a velocity of 2 revs/sec, it will also
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The distance command
(D6200)
Trigger distance command
(TRD4000)
Trigger distance command
(TRD6020)
The TRR command
(TRR1440)
Registration move velocity
(V50)
2
to 10 revs/sec (1)
This command sets the distance the
axis will travel if no registration pulse
is received and the maximum distance
at which the pulse will be recognised.
The distance at which the axis will
start to decelerate to the slower speed
of 1 rev/sec (V1) in readiness for the
registration pulse is set by this
command.
This command sets the minimum
distance at which the system will
recognise the registration pulse.
This command sets up the registration
mode and the registration distance
(the distance the axis will travel after
the pulse is received)
To save time in travelling the
registration distance, the axis then
accelerates towards 50 revs/sec
(V50), but it does not reach that speed
before starting to decelerate to stop at
1440 steps from where the pulse
occurred.