The attached file includes user programs that will make square, triangle, and sawtooth waveforms on position.
Be aware that modern motion control tries to make the motion follow the desired trajectory exactly. It is impossible to follow a square wave, triangle wave, or sawtooth wave exactly, because infinite velocity and acceleration are impossible. Therefore, the attached programs include adjustable rounded corners and non-vertical squarewave segments so you can define your waveform in a way that is possible to follow.
To import a user program, in the RMCTools project pane, right-click User Programs and chooe Import.
SignalGeneratorExamples.ZIP (58.3 KB)