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Though the controller is simple to program, it is flexible in the positions that are taught. Each position in the point table can have it's own velocity, acceleration, and deceleration. The Robo Cylinder can then move from point to point in response to external signals. In a point-to-point motion pattern the actuator will simply move to a programmed position.


In the example above there are 5 taught positions. Execution of each position will require a PLC to select the position through digital inputs. The digital inputs are in binary format. Once the position has been selected the PLC simply toggles the "START" input and the actuators will move. If the actuator has not been homed, the Robo Cylinder will home automatically before going to the executed position. If the Robo Cylinder has been homed the controller will simply move to the executed position.

As seen about the positions can have their own specific values for velocity and acceleration. The "Pos. Band" column specifies the distance away from the settling point that the "POSITION COMPLETE" output turns on. In this case when position 1 is executed the "POSITION COMPLETE" output will turn on at 99.9mm or 100.1mm away from home depending on the direction of travel.

The system can interrupt a motion to execute a different position. In order to do this the PLC simply executes another position while the actuator is in motion. The current position will be canceled immediately and the new position will begin. The new position can have a different velocity, acceleration or can even be incremental or "PUSH" moves. This allows the Robo Cylinder to change velocity in mid-motion.

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