Studio queued MAM

I have an array of positions along with velocities. I'd like to index through them using a single MAM instruction and have them queued. Meaning, start motion using index 0, while motion is in progress queue index 1...I want them to goto each index position and continue on without stopping to the next one.
I believe it has to do with the merge command. I've read the instruction help but it doesn't make to much sense to me.
Any idea how I would queued motion moves in Studio?

jonfarrugia said:

I have an array of positions along with velocities. I'd like to index through them using a single MAM instruction and have them queued. Meaning, start motion using index 0, while motion is in progress queue index 1...I want them to goto each index position and continue on without stopping to the next one.
I believe it has to do with the merge command. I've read the instruction help but it doesn't make to much sense to me.
Any idea how I would queued motion moves in Studio?

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More information needed to assist

Please provide a rough Speed vs time chart
What version of RS5000 are you using?


Usually MAM is to move from point A to point B usually stopping at point B

a MAM using the Merge functionality is usually used to finish existing motion at a known location.

If you want a to move from one position(P) velocity (V) to another PV then immediately move to another P V then you should be using the time CAM function (MATC)
P.S. the CAM table that you generate also allows you to control acceleration

What is needed is a position, velocity at time T command.
Delta Tau has a PVT command that allow one to specify the position and velocity at time in the future. We have a PVAT or advanced time move that allows one to do the same except we added an acceleration parameter.
Use the cam table if a PVT or PVAT command is not available.

I was just looking to blend moves together. Looks like the best way of doing this is to create a single axis coordinated axis. Use the MCLM command and que up motions commands. Its easily done with the two MCLM commands. haven't tested it yet but I've seen examples of the code. I'll post again once I get it up and running in the real world.