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Blending moves with STPOSMOVE?

Bernard Pottner
Prodigy 140 points

Is it possible to generate new position move profiles (using SpinTAC Position Move) while an existing move is in progress?

For example, our motor will be running a long position profile (with accel, max vel, & decel parameters). But it will need to be able to respond to a 'STOP' input at any point.

The 'STOP' input should then bring motor to controlled stop (using a more abrupt, bigger decel parameter).

Basically, can SpinTAC Position Move blend moves?

I have a feeling it could handle velocity changes on the fly, but not when running a STPosMOVE profile.. is that sort of correct?

Thanks in advance!.

  • 0
    Guru 12800 points
    Bernard,

    SpinTAC Position Move can do exactly what you requested. There is an ENB input that if you set it to 0, it will abort the current profile and use the HaltAccLim and HaltJrkLim in order to transition to zero speed in a controlled stop.

    What it cannot do, is transition in the middle of a point-to-point move to a different point-to-point move. but you can stop a point-to-point move, then after the motor is stopped start a new point-to-point move.