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Overview of Defined Segment Types

CODESYS SoftMotion provides various segment types for cams.

Depending on the compile format, only some of the segment types are supported:

  • XYVA: Line and Poly5 only.

  • Segments: All segment types are supported.

Segment Type

Parameters

Curve

Poly7

. Boundary conditions

  • Master position

  • Slave position

  • Slave velocity

  • Slave acceleration

  • Slave jerk

_sm_img_poly7_segment_type.png

Poly5

. Boundary conditions

  • Master position

  • Slave position

  • Slave velocity

  • Slave acceleration

_sm_img_poly5_segment_type.png

ModifiedSine

. Boundary conditions

  • Master position

  • Slave position

  • Slave velocity

. Segment parameters

  • Either inflection point parameter λ (0≤λ≤1)

  • Or acceleration parameter Ca* (maximum deceleration)

_sm_img_modified_sine_segment_type.png

Line

. Boundary conditions

  • Master position

  • Slave position

_sm_img_line_segment_type.png

InclinedSine

. Boundary conditions

  • Master position

  • Slave position

_sm_img_inclined_sine_segment_type.png

The selection of the segment type depends on the application because each type has special dynamic properties. There are various applicable segment types depending on the movement task (for example, dwell – constant velocity).

The following table provides an overview:

Dwell

(v=0, a=0)

Constant velocity

(v­­≠0, a=0)

Reversal

(v=0, a≠0)

Movement

(v≠0, a≠0)

Dwell

(v=0, a=0)

  • Line

  • Poly5/7

  • InclinedSine

  • ModifiedSine

  • Poly5/7

  • ModifiedSine

  • Poly5/7

  • Poly5/7

Constant velocity

(v≠0, a=0)

  • Poly5/7

  • ModifiedSine

  • Line

  • Poly5/7

  • ModifiedSine

  • Poly5/7

  • Poly5/7

Reversal

(v=0, a≠0)

  • Poly5/7

  • Poly5/7

  • Poly5/7

  • Poly5/7

Movement

(v≠0, a≠0)

  • Poly5/7

  • Poly5/7

  • Poly5/7

  • Poly5/7

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