Sine Move Continuous Command

Character: none
Decimal: 48
Hexadecimal: 0x30
Command Value: Amplitude

This command moves the position, pressure or force axis in a sinusoid. The user specifies the amplitude, frequency, and number of cycles (count). The count may be changed while the move is in progress, but the amplitude and frequency should not be changed until the Sine Move Continuous is complete. The Sine Move Continuous will stop at the starting position after completing the specified number of cycles.

The cycling can be stopped by issuing a Sine Move Continuous command with the count set at 1. When the actuator gets to the starting position the cycling will stop.

Note: On pressure control axes, the axis must be in closed-loop pressure control when this command is issued. If the pressure control axis is in open loop control when this command is issued, a parameter error will result.

Command Value: Amplitude in position units. The current target position is used as a starting point and the sinusoidal motion can go positive or negative from there depending on the sign of the amplitude. For example: If the actuator is a 1000 and a sinusoidal command has an amplitude of 100 then the actuator will cycle between 1000 and 1200. If the amplitude is –50, the actuator will cycle between 1000 and 900.

Speed: Frequency in HZ x 100. This allows frequencies up to 655Hz but in reality it is hard to attain. For example, 500 is 5 Hz, and 20 is 0.2 Hz.

Deceleration: Count. Enter 1-65535 for a set number of cycles. Enter 0 for continuous cycling.

Acceleration: Not Used.

Stopping a Sine Move Continuous in Progress:

The cycling can be stopped by issuing a Sine Move Continuous command with the count set to 1. When the actuator gets to the starting position the cycling will stop.

Note: Do not change the frequency or amplitude on-the-fly unless the actuator is back at the start position.

Gearing:
The position or pressure/force PID can be geared to an external reference that represents a rate in engineering units per second. If the external reference has a rate of 1000 position (or pressure) units per second, the gear ratio is one to one. If the external reference has a rate of 2000 engineering units per second then the gear ratio is two to one.