question about PVT trajectory

[yokingRo]

I did the experiment with a virtual Aixs on ppmac Ck3m.

i am generating a trajectory , The key point is show at "Tag1" in the following code.

I want the pmac to generate a trajectory with a constant velocity of 30 um/MS hold for 22 MS .

actually, I via Gather tool found the constant vel trajectory can't hold for 22 MS, but looks like it's held for 20 MS. 😵Delay the specified speed by about 1 MS, and Slow down 1 MS early.I post the origin Gather data at last.

Looking forward to any response!!!

The move program:

undefine all
&1                            
#1->2x

Coord[1].FeedTime = 1
Coord[1].NoBlend = 0

open prog 61

dwell 0; Gather.Enable = 2;dwell 0;

pvt 10
x 1000 : 300 //300mm/ms

pvt 11
x 330  : 30 

pvt 25        
x 720  : 28
pvt 25        
x 720  : 30

pvt 11
x 330  : 30

//////////tag1  hold for 22 ms constant vel move

pvt 11
x 330  : 30 

pvt 25        
x 720  : 28
pvt 25        
x 720  : 30

pvt 11
x 330  : 30

 

pvt 11
x 330  : 30 

pvt 25        
x 720  : 28
pvt 25        
x 720  : 30

pvt 11
x 330  : 30

/////////

pvt 11
x 330  : 30 

pvt 25        
x 720  : 28
pvt 25        
x 720  : 30

pvt 11
x 330  : 30

//////////
dwell 0; Gather.Enable = 0;dwell 0; 
close

xAxisDataFromGather.txt

Edited September 7, 2022 by yokingRo
change the code

[yokingRo]

xAxisDataFromGather.txt

[steve.milici]

Using PVT mode for this type of move profile can become very difficult to “calculate” such a trajectory. I think you would be better served by programming in linear-mode but use the automatic conversion of linear-mode moves to PVT with “Coord[x].SegLinToPvt = 3”.