Omron trajexia CJ1W-MCH72 Operation Manual page 261

All BASIC commands
4-2-229 SRAMP
4-2-230 STEP
4-2-231 STEP_RATIO
250
/i
Type Axis parameter
Syntax SRAMP
Description The SRAMP parameter contains the S-curve factor. The S-curve factor
controls the amount of rounding applied to the trapezoidal profiles. A
value of 0 sets no rounding. A value of 10 sets maximum rounding. The
default value of the parameter is 0.
SRAMP is applied to the FORWARD, MOVE, MOVEABS, MOVECIRC,
MHELICAL and REVERSE commands.
Notes:
• Using S-curves increases the time required for the movement to
complete.
• The S-curve factor must not be changed while a move is in
progress.
Arguments N/A
Example No example.
See also AXIS.
See
FOR..TO..STEP..NEXT
/i
Type Axis command
Syntax STEP_RATIO(output_count, dpos_count)
Description This command sets up a ratio for the output of the stepper axis. Every
servo-period the number of steps is passed through the STEP_RATIO
function before it goes to the step pulse output.
Pulse Count Out = (numerator)/(denominator) * MPOS.
STEP_RATIO affects both MOVECIRC and CAMBOX.
Notes:
• The STEP_RATIO function operates before the divide by 16 factor
in the stepper axis.
• Large ratios should be avoided as they will lead to either loss of res-
olution or much reduced smoothness in the motion. The actual
physical step size x 16 is the BASIC resolution of the axis and use of
this command may reduce the ability of the Motion Controller to
accurately achieve all positions.
• STEP_RATIO does not replace UNITS. Do not use STEP_RATIO to
remove the x16 factor on the stepper axis as this will lead to poor
step frequency control.
Arguments • denominator
An integer number between 0 and 16777215 that is used to define
the denominator in the above equation.
• numerator
An integer number between 0 and 16777215 that is used to define
the numerator in the above equation.
.
Section 4-2