Groups 06/2005 Danaher Motion
124 Rev E M-SS-005-03l
ISSETTLED is a binary (ON or OFF) property that indicates if the group is
settled. To be settled, the motion profile must be complete and the
orthogonal combination of axis position errors must be below
POSITIONERRORSETTLE. The time condition must also be satisfied.
6.6.4. Velocity
There is one group limit in the MC related to velocity: VELOCITYMAX
(VMAX) sets the maximum speed the motion generator can command the
group. This property is checked at the beginning of each move. For example:
Group.VelocityMax = 5000
The actual executing velocity is also limited according to the group’s axes
velocity limitations. The maximum allowed axes velocity is initialize group
velocity. In this case a note is returned and can be seen only if
SYS.MOTIONASSISTANCE is on.
6. 7 ACCELERATION
Three limits control acceleration, deceleration, and jerk, which limit the
velocity transients on acceleration profiles.
ACCELERATIONMAX is the upper limit for acceleration in MC
acceleration units.
DECELERATIONMAX is the upper limit for deceleration in MC
acceleration units.
The actual executing acceleration and deceleration are limited also
according to the group’s axes limitations. The maximum allowed axes of
those parameters initialize the group’s values. In this case, a note is returned
and can be seen only if SYS.MOTION ASSISTANCE is on.
The jerk properties, JERK, JERKFACTOR, JERKMAX, and
SMOOTHFACTOR are applicable in group motion to obtain smooth motion
control.
6. 8 VELOCITY, ACCELERATION,
DECELERATION
AND JERK RATES
GROUP.VELOCITYRATE defines the group velocity maximum scaling
factor from 0.1 to 100 independent of acceleration,
deceleration or jerk. GROUP.VELOCITYRATE may
be modal or nodal.
GROUP.ACCELERATIONRATE defines the group acceleration maximum
scaling factor from 0.1 to 100 independent of velocity,
deceleration or jerk. GROUP.ACCELERATIONRATE
may be modal or nodal.
GROUP.DECELERATIONRATE defines the group deceleration maximum
scaling factor from 0.1 to 100 independent of velocity,
acceleration or jerk. GROUP.DECELERATIONRATE
may be modal or nodal.
GROUP.JERKRATE defines the group maximum Jerk scaling factor from
0.1 to 100 independent of velocity, acceleration or
deceleration. GROUP.JERKRATE may be modal or
nodal.
