AMD2000 Series - Servo Drive - User Manual
124
DS619-0-00-0019 - Rev 0
ANCA Motion
Example of Usage
Figure 10-16
shows an example of configuring the global constraints. The grey region “inside the onion” shows
the allowable region of operation.
The parameters settings are for position, velocity and acceleration, BUT not force, so only the 4 LSB and the mid-
bits need to be activated. The following is applied:
P-0-0099 = 3855 [binary: 0000 1111 0000 1111
(<--these last are the 4 LSB)
]
P-0-0100 = 0.4 [m]
P-0-0101 = -0.1 [m]
P-0-0102 = 1200 [mm/min]
P-0-0103 = -900 [mm/min]
P-0-0104 = 0.003 [m/s/s]
P-0-0105 = -0.003 [m/s/s]
P-0-0106 = -0.001 [m/s/s]
P-0-0107 = 0.001 [m/s/s]
Acceleration and Deceleration
constraints apply even inside
the “allowable region of
motion.”
Position Constraints
Acceleration and Deceleration further
constrain ‘how close’ the axis can get to a
position limit at any given velocity before it
will no longer be able to stop at the position
constraint.
V
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o
ci
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C
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n
st
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Allowable region shown in grey
Figure 10-16
Global Constraints Example
