Delta RMC101 Uživatelský manuál stáhnout pdf (Strana 206)

100

101

RMC100 and RMCWin User Manual

4-20

These issues prompted the introduction of Enhanced curves.

Enhanced Curves

Enhanced curves were introduced with RMC CPU firmware dated 20010208. They greatly enhance

the capabilities of the RMC in following an arbitrary curve, and further enhance the smoothness of the

curve.

The following items are introduced with enhanced curves:

• The accelerations at the endpoints of a curve are always zero (0). Therefore, there is no

acceleration discontinuity and therefore much lower jerk at the end points. The acceleration is

continuous over the entire curve, even with the additional features listed below.

• Segments can be easily designated as linear segments, which makes them exactly linear. This

greatly simplifies camming and flying cut-off applications.

• Any point, including the endpoints, can have its velocity set to a specific value. This, too,

simplifies camming and flying cut-off applications.

• Curves can be set up to auto-repeat, meaning that the curve restarts automatically when it

reaches its end. See Auto Repeat Curves for details.

The drawback of Enhanced curves is that they can currently only be downloaded to the RMC through

RMCWin's Curve Tool, and not from a Programmable Controller through communication modules

such as Ethernet, PROFIBUS, and Modbus Plus. See Curve Tool Overview for details on the Curve

Tool.

You should always use Enhanced curves unless you are running firmware prior to 20010208 and do

not wish to upgrade, or you need to download curves through the communication module.

What If I Don't Want Zero Velocity at My Endpoints?

Each spline segment in a Standard curve will begin and end at zero velocity. This is desirable so

that when a motion controller's axis is given the command to follow a spline curve, the axis does

not instantly jerk to the new velocity. However, there are applications where the curve does not

begin with zero velocity.

If the curve is downloaded from RMCWin, then you can switch to use an Enhanced curve which

allows the velocity of each point to be set. However, if the curve is being downloaded over

Ethernet, Modbus Plus, PROFIBUS or some other communication module, it is recommended

that the user add one or more points to the beginning and end of the curve. The following curves

demonstrate how this can be done:

1 2 ... 201 202 203 204 205 206 207 208 209 210 211 ... 950 951

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