Installation guide

Keyword Reference Guide
MN1270 02.2002 111
Format:
OFFSETMODE[axes] = <expression> {,<expression> ...}
v = OFFSETMODE[axes]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
MintDrive &
ServoNode 51
  
0
0 ≤ x ≤ 3
Description:
The velocity profile of an
OFFSET move is determined by the OFFSETMODE of the axis.
Mode Predefined Constant Action
0
_ofSTANDARD
Perform offset using ACCEL and DECEL defined for the axis with
no regard for
MAXSPEED or reversing.
1
_ofSPEED_LIMIT
Perform offset using ACCEL and DECEL defined for the axis but
do not exceed maximum speed or change direction.
2
_ofACCEL_MOD
Modify the ACCEL and DECEL parameters of the axis in order to
perform the offset over the specified distance without constant
velocity.
3
_ofSPEED_MOD
Modify the SPEED parameter of the axis in order to perform the
offset over the specified distance at a constant velocity.
OFFSETMODE 0 - default
In this mode the offset is performed using the
ACCEL and DECEL as defined for the axis. The maximum
speed of the offset is the base speed plus the speed defined by the
SPEED keyword. This mode ignores
any maximum speed defined for the axis and may change direction during an offset move.
OFFSETMODE 1 - SPEED AND DIRECTION CHECK
As with OFFSETMODE 0 this move uses the
ACCEL and DECEL defined for the axis performing the
offset. However in this mode the motor speed will not exceed that defined by the
MAXSPEED keyword
and the motor will not change direction during an offset move.
OFFSETMODE 2 - MODIFIED ACCEL AND DECEL
This mode inherits the speed restrictions of mode 1 but takes place over the distance defined by the
keyword
OFFSETDISTANCE. This mode modifies the ACCEL and DECEL parameters of the axis during
the offset move to produce a triangular velocity profile. This mode is designed to be used when the axis
is travelling at a constant base speed as the speed of the axis at the time of the execution of the offset is
used to calculate the time in which to perform the offset. If the
ACCEL and DECEL parameters required
for the new profile exceed those defined for the axis the offset will abort and set
OFFSETSTATUS
accordingly.
OFFSETMODE 3 - MODIFIED SPEED
This mode inherits the speed restrictions of mode 1 and as with offset mode 2 takes place over the
distance defined by the keyword
OFFSETDISTANCE. This mode modifies the SPEED parameter in order
to perform the offset at the minimum speed to achieve the offset required in the distance specified. It
uses the current
ACCEL and DECEL parameters for the axis. If the speed calculated for the new profile
exceeds that defined for the axis the offset will abort and set
OFFSETSTATUS accordingly.
Example:
MASTERSOURCE.1 = _msPOS
MASTERCHANNEL.1 = 0