380 Control chain diagrams
Speed reference ramping and shaping
0
0
23
.2
3 E
mer
ge
n
c
y
sto
p t
ime
23
.1
2 A
c
c
ele
ratio
n t
ime
1
23
.1
3 D
eceler
ation
ti
me 1
23
.1
4 A
c
c
ele
ratio
n t
ime
2
23
.1
5
D
eceler
ation
ti
me
2
46
.0
1 S
p
e
e
d
s
c
a
ling
SHAP
E
23
.0
1 S
p
e
e
d
r
ef
ramp
input
S
elec
tion
>
V
alue
V
alue
V
alue
V
alue
V
alue
V
alue
V
alue
RA
M
P
23
.0
2 S
p
e
e
d
r
ef
ramp
o
utpu
t
V
alue
AND
OR
20
.2
6
J
o
g
g
ing
1
s
tart
s
o
u
rc
e
20
.2
7
J
o
g
g
ing
2
s
tart
s
o
u
rc
e
20
.2
5 J
o
g
g
ing
e
n
a
b
le
V
alue
V
alue
V
alue
V
alue
V
alue
V
alue
23
.1
1 R
amp s
et
s
e
le
c
tio
n
AND
St
op
c
omma
nd
V
alue
V
alue
V
alue
V
alue
22
.0
1 S
p
e
e
d
r
ef
u
nlimit
ed
V
alue
V
alue
A
C
C
TI
ME
DE
C T
IM
E
V
alue
23
.2
0 A
c
c
time
j
o
g
g
ing
23
.2
1 D
ec time
jog
gin
g
6.11
bit
5
O
ff
3
ina
c
ti
v
e
V
alue
30
.1
1 Minim
u
m
s
p
ee
d
6.1 b
it
6
R
amp in z
ero
30
.1
2 Max
imum
s
p
e
e
d
6.11
bit
5
Off
3
i
n
act
ive
6.1 b
it
4 Ra
mp ou
t z
e
ro
22
.4
2
J
o
g
g
ing
1
r
e
f
22
.4
3
J
o
g
g
ing
2
r
e
f
23
.2
0 A
c
c
time
j
o
g
g
ing
23
.2
1 D
ec time
jog
gin
g
XOR
V
alue
V
alue
V
alue
6.1 b
it
4
R
amp ou
t zer
o
6.1 b
it
5
R
amp ho
ld
6.1 b
it
6
R
amp in z
ero
V
alue
6.1 b
it
8
Inc
hing
1
V
alue
6.1 b
it
9 I
n
c
h
ing
2
V
alue
6.1 b
it
9 I
n
c
h
ing
2
AND
23
.32 S
h
a
p
e
t
ime 1
23
.33
Sha
pe
ti
me
2
V
alue
V
alue
0
RA
M
P
A
C
C
TI
ME
DE
C T
IM
E
SH
A
P
E
TI
ME
S
elec
tion
>
30
.3
6 S
p
e
e
d
l
imit
s
ele
c
ti
o
n
S
elec
tion
>
30
.3
8 Max
sp
ee
d source
S
elec
tion
>
30
.3
7 Min
s
p
e
e
d s
o
u
rc
e
MI
N
MA
X
ACS180 FW.book Page 380 Tuesday, March 9, 2021 2:25 PM