120
AXOR Industries
Service Manual
NanoMack
®
ver.1 rev.11/'19
5.14 Profile Tool
Acc Time
It sets the acceleration time value for the trapezoidal profile ramp. This parameter admits values in
the range: 10...5000 ms. The time value is refered to the max motor speed, "Speed Limit" parameter
set in the "Speed Loop" window, so the real acceleration time related to the profile speed can be found
using the following expression:
T_acc [ms] = Speed [rpm] * T_acc_set [ms]
Speed_motor [rpm]
where:
T_acc
= real acceleration time for the profile ramp;
Speed
= speed set for the profile ("Speed" parameter);
Speed_motor
= motor speed limit set on interface ("Speed Limit" parameter in the
"Speed Loop" window);
T_acc_set
= value inserted in the "Acc. Time" parameter.
T_dec [ms] = Speed [rpm] * T_dec_set [ms]
Speed_motor [rpm]
Dec Time
It sets the deceleration time value of the trapezoidal profile ramp. This parameter admits values in the
range: 10...5000 ms. The time value is refered to the max motor speed, "Speed Limit" parameter set
in the "Speed Loop" window, so the real acceleration time related to the profile speed can be found
using the following expression:
where:
T_dec
= real deceleration time for the profile ramp;
Speed
= speed set for the profile ("Speed" parameter);
Speed_motor
= motor speed limit set on interface ("Speed Limit" parameter);
T_dec_set
= value inserted in the "Dec. Time" parameter;
Speed
It sets the speed reference of the trapezoidal profile. This parameter is limited by "Max Position Speed".
Max Position Speed
It sets the maximum speed allowed for all motion position profiles. It is defined in "rpm" and rappre-
sents the minimum value between 6000 rpm and the motor speed limit ("Speed Limit" parameter on
the "Speed Loop" window).
Net Profile
It is the number of the following profile to execute after the quote reached of last task. This parameter
is defined for concatenated profiles mode.
Window Pos.
It is the window of position quotes admitted around the sensor position to declare “position reached”.
It is defined in feedback pulses and can be calculated with the following formula:
Window Pos = n° turns (also not integer) * 65536
Window Time
It is the time limit used when the motor is within the position window to set "target reached" indication.
It is declared in "ms" and admits values in the range: 0...65536.
Delay Time
It is the waiting time after the quote reached and after the "Window Time", to declare "position reached".
Note
: The
Window Pos
,
Window Time
, and
Delay Time
parameters are utilised to guarantee a
good positioning; in fact there are some situations (very high inertia, joint elasticity or belt, etc), where
after a positioning there is an oscillation. Setting correctly these parameters it is possible to be sure
that these oscillation is contained in a range (Window Pos) for a time over the time set in "Window
Time" parameter.
