Installation manual

Publication 1747-RM001G-EN-P - November 2008
Math Instructions 4-23
RMP Equation
The Ramp instruction is defined based on the following equations.
• S = the Beginning Output value
• E = the Ending Output value
• P = the Current Time
• L = the Overall Time
• Output = the RMP output value
Continuous Operation
Output E S–()
P
L
--- S+×=
Output E S–()
P
L
---
P
L
---
× S+×=
Output E S–()1
LP–
L
-------------
LP–
L
-------------
×–
⎝⎠
⎛⎞
S+×=
Linear:
Deceleration:
Acceleration:
Output E S–()2×
P
L
---
P
L
---
× S+×=
While 0 PL 2⁄≤≤
While L 2⁄()PL<<
Output E S–()12
LP–
L
-------------
LP–
L
-------------
××–
⎝⎠
⎛⎞
S+×=
“S” Curve:
RMP
Ramp
Control N7:0
N7:0
N7:0
Dest N7:7
CLR
Clear
Dest N7:2
13
12