Baumuller b maXX BM5800, Parameter Manual

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Description of the Software Modules and Parameters
Parameter manual b maXX BM5800
Document No.: 5.16029.03
539
of 814
3
When the Halt bit is reset, the remaining travel is automatically completed and the status
bits Set Value Reached (Status Word
Z
108.3
–
, bit 10) and Status
Z
118.1
–
, bit 9 are
cleared.
The interrupted positioning task can be resumed at the earliest when Set Speed = 0 is set.
If the Halt bit is already set when a start command is set, the positioning task will not be
started. It will only be started when the Halt bit is cleared.
The profile data, including the target position, can also be changed in the Halt state. A
rising edge on the Start bit (Control Word
Z
108.1
–
, bit 4 "New Set Value" or bit 11 "Start
Positioning") is required for this. However the motion profile cannot be changed.
3.8.2.12 Aborting a Running Positioning Task
A running positioning task can be aborted by setting the Abort bit (Control Word
Z
108.1
–
bit 12). The data from the current positioning set are used for the deceleration ramp. The
execution of the Abort command is indicated immediately in Status
Z
118.1
–
, bit 9. The
end of the abort process is indicated with the Set Value Reached bit (Status Word
Z
108.3
–
, bit 10).
A new positioning task can be started at the earliest when Set Speed = 0 (Status
Z
118.1
–
bit 4) is set. The Abort bit must not be set for this.
In contrast to halting a running positioning task using the Halt bit (Control Word
Z
108.1
–
bit 8), the positioning is not resumed when the Abort bit is cleared!
3.8.2.13 Set Value Profiles
There are two different speed profiles implemented for positioning: Trapezoidal and S-
Curve.
m
With the trapezoidal profile (optimum time), a constant acceleration is assumed; the
change in acceleration is therefore abrupt. In order to attenuate the resulting jerk, it is
possible to smooth the generated profile with a filter element. Any change to the
smoothing - for example due to the activation of a different positioning set - should only
be carried out after a positioning procedure has ended. The action of a change while a
positioning set is running will be prevented by the profile algorithm. This prevents un-
wanted creeping or overrunning the target.
m
With the S-Curve profile (jerk-free), the acceleration is not changed abruptly but rather
follows a trapezoidal shape. The maximum jerk (change in acceleration) can be set.
The positioning time under otherwise equal boundary conditions (same route, same max-
imum speed and accelerations) is always longer with the S-Curve profile than with the
trapezoidal profile.