Differences Between Fov And Vel; What Are Motion Profiles - Parker ACR7000 Series Programmer's Manual

MAKING MOTION
FOV 1.00

Differences Between FOV and VEL

While a program is running, both the FOV and VEL (set target velocity for a move) commands can be set, but each
affects motion differently:
•
FOV immediately affects all axes attached to the master.
•
VEL is buffered in memory. The newly commanded velocity does not take effect until current motion is
completed.

What are Motion Profiles?

To make motion, the user must define the motion profile. The acceleration, deceleration, stop ramps, velocity,
and distance (ACC, DEC, STP, VEL and MOV commands, respectively) set the motion profile values.
•
Acceleration: The ACC (set acceleration ramp) command sets the master acceleration. The master
acceleration is used to ramp from lower to higher speeds. The value is in units per second
•
Velocity: The VEL (set target velocity for a move) command sets the target velocity for subsequent
moves. The value is in units per second.
•
Deceleration: The DEC (set deceleration ramp) command sets the deceleration used to ramp from
higher to lower speeds. The value is in units per second
stop ramp is zero. Use the DEC ramp to blend moves.
•
Stop: Use the STP (set stop ramp) command to set the master deceleration ramp used at the end of the
next move. The value is in units per second
ramping down. This allows you to merge back-to-back moves. The final velocity of the first move
becomes the initial velocity of the second move.
Motion profiles can be graphically represented. The following illustrates the ACC, DEC, and STP values as a typical
trapezoidal motion profile.
All motion profile values are entered in user-based units (inches, millimeters, degrees, revolutions or other units).
Use the PPU (set axis pulse-per-unit ratio) command to relate the feedback pulse to the unit of measure. The
PPU command sets the ratio of pulses per programming unit. The controller computes the motion trajectory
from the motion profile data.
Motion profile values for each master can be set in two ways:
158 ACR Programmer's Guide
2
. The deceleration ramp is only used when the
2 . When the stop ramp is set to zero, the move ends without
2 .