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<title>Deceleration Span Parameters</title>

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<h3>Deceleration Span Parameters</h3>

<p CLASS=Paragraph>This option allows you to define deceleration and overshoot 
 values. You have the following options:</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Acceleration Constant 
 Inch Per Sec</span> - This option allows you to specify the Acceleration 
 Constant. The Acceleration Constant is a machine dependent constant used 
 to calculate the slow down feedrate and length of span to slow down.</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Machine Response Constant</span> 
 - This option allows you to specify the Machine Response Constant. The 
 Machine Response Constant is a machine dependent constant used to calculate 
 the slow down feedrate and length of span to slow down.</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Allowable Overshoot 
 Default Value</span> - This option allows you to specify the Allowable 
 Overshoot default value. The Allowable Overshoot default value is the 
 value that GPM uses in calculating slow down feedrate and span if an overshoot 
 value is not programmed with the MCHTOL/n command.</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Load Overshoot Max 
 Feedrate Table </span>- This option allows you to build a table of up 
 to 20 entries of overshoot values and the corresponding maximum feedrate 
 that will not exceed that overshoot value when making an angular change 
 of 90 degrees. The GPM defaults to a table with 14 entries suitable for 
 an Acramatic IV control.</p>

<p CLASS=Paragraph>The parameters in this option are set up specifically 
 for the Acramatic IV control, however, you might be able to adapt them 
 to work for other controls that require deceleration spans.</p>

<p CLASS=Paragraph>If deceleration spans are required, the GPM takes the 
 programmed allowable overshoot, or the default if none is programmed, 
 and finds from the table the maximum feedrate that does not exceed the 
 overshoot making a 90 degree corner. It then adjusts this feedrate based 
 on the actual angular change. A full stop is equivalent to a 180 degree 
 change. If the adjusted feedrate is less than the programmed feedrate, 
 the length of span required to slow from the programmed rate to the adjusted 
 rate is calculated and subtracted from the programmed motion span. The 
 calculated end point is output at the programmed feedrate and the original 
 end point is then output at the adjusted feedrate.</p>

<p CLASS=Paragraph>The calculation is performed using the following formulas:</p>

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<p CLASS=Paragraph>Where the variables are equivalent to:</p>

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<tr>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>FA=</td>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>adjusted allowable feedrate</td></tr>

<tr>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>FRMAX=</td>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>allowable feedrate from table</td></tr>

<tr>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>A=</td>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>&nbsp;angular change</td></tr>

<tr>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>SS=</td>
<td style="x-cell-content-align: TOP;
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			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>&nbsp;slow down span</td></tr>

<tr>
<td style="x-cell-content-align: TOP;
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			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>FP=</td>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>programmed feedrate</td></tr>

<tr>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>a=</td>
<td style="x-cell-content-align: TOP;
			padding-left: 2px;
			padding-top: 2px;
			padding-right: 2px;
			padding-bottom: 2px;"
	valign=top>
<p CLASS=CellDescrip
	style="text-align: left; margin-bottom: 0;"
	align=left>&nbsp;acceleration constant</td></tr>
</table>

<p CLASS=Paragraph>When you enter the number of entries, the table displays 
 10 entries at a time. If you have specified more than 10 entries, the 
 entries over 10 will appear on a subsequent menu.</p>

<h3><a NAME=linear_axis></a>Linear Axis Modality</h3>

<p CLASS=Paragraph>This option allows you to specify whether the coordinates 
 of specified axes (i.e., X, Y, Z, W, or V) are output in <span style="font-style: italic;">all</span> 
 or <span style="font-style: italic;">selective</span> output blocks<span 
 style="font-style: italic;">.</span></p>

<p CLASS=Paragraph>If you select <span style="font-weight: bold;">Modal</span>, 
 the coordinates of the specified axis are output only when changing or 
 forced out by another option.</p>

<p CLASS=Paragraph>If you select <span style="font-weight: bold;">Not Modal</span>, 
 the coordinate is output in <span style="font-style: italic;">every</span> 
 motion block - even if there is no motion in the axis.</p>

<h3><a NAME=rotary_axis></a>Rotary Axis Modality</h3>

<p CLASS=Paragraph>This option allows you to specify whether the coordinates 
 of specified axes (i.e., A, B, C) are output in <span style="font-style: italic;">all</span> 
 or <span style="font-style: italic;">selective</span> output blocks. The 
 Modal and Not Modal options work as described above.</p>

<h3><a NAME=spline_interpol></a>Spline Interpolation Motion Parameters</h3>

<p CLASS=Paragraph>This option allows you to define various parameters 
 for the spline interpolation output. You have the following options:</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Spline/NURBS Output 
 Type </span>- controller specific output</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Spline/NURBS Order 
 </span>- order format</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Spline/NURBS Knot </span>- 
 knot format</p>

<p CLASS=Paragraph><span style="font-weight: bold;">Knot Scale Factor </span>- 
 scale factor to be multiplied to the knot before output</p>

<h1 style="margin-bottom: 0;">&nbsp; </h1>

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