B&R ACOPOSinverter P84, User Manual

Page: 101 / 405

Programming guidelines
ACOPOSinverter P84 User's Manual 2.10 101
2.5.10 Operation with SDC
2.5.10.1 Timing behavior
There is a delay between the control system and the ACOPOSinverter P84 (approx. 20 ms to 60 ms), which
depends on various parameters.
The ACP10SDC library is automatically entered into the 1# task class. This is set to the X2X cycle time of the X2X
configuration (default 2 ms).
Because of the delay time of the ACOPOSinverter P84, refresh of the input values (every 2 ms) is not guaranteed.
2.5.10.2 PLC - Open components
The following motion functions are for use with the ACOPOSinverter P84:
•
MC_MoveVelocity
• MC_BR_EventMoveVelocity
• MC_BR_MoveCyclicVelocity
2.5.10.3 Quick stop/ Emergency stop
When the ACOPOSinverter P84 is operating with the ACP10SDC library, the QSTD parameter (quick stop option
code) is set to 2 automatically.
Note:
This value should not be changed if the ACOPOSinverter P84 is integrated with the ACP10SDC.
If the parameter is changed, the motor of the ACOPOSinverter P84 will stop in the event of an active
Quick stop or Emergency stop, but the ACP10SDC library will continue running.
2.5.10.4 Acceleration and deceleration ramps
When an ACOPOSinverter P84 is integrated with SDC, the ACC and DEC ramp parameters are set to 0.1 ms
automatically.
This corresponds to the fastest acceleration/deceleration.
Note:
These values should not be modified if the ACOPOSinverter P84 is integrated with the ACP10SDC
library.