PMAC Quick Reference Guide TS0 ; No S-curve component TM250 ; Move time is 250 msec, TM 1 X10 ; Move distance is 10 units, 20000 counts TA250 ; Acceleration \ deceleration of the blended move is 250 msec , TA 2 X40 ; Move distance is 40 units, 80000 counts CLOSE 2. The two move commands are plotted without blending, placing a DWELL0 command in between the two moves: 3. The two moves are now plotted with the blending mode activated. To find out the blending point, trace straight lines through the middle point of each acceleration lines of both velocity profiles: Observations 1. The total move time is given by: msec 675 125 250 250 50 2 2 TA 2 TM 1 TM 2 1 TA = + + + = + + + 2.
The acceleration of the second blended move can be extended only up to a certain limit, 2*(TM- Ѕ TA): 50 Motion Programs