reached. The movement then continues with maximum
acceleration. At the end, the acceleration is decreased by
maximum jerk until acceleration returns to 0. The
maximum jerk is calculated by parameter
32-86
Acceleration Up for Limited Jerk
.
When using ramp type 2, also see parameters
32-86
to
32-89
.
32-83 Velocity Resolution
Range:
Function:
1000
*
[Fixed
to 1000]
Defines a relative size for the velocity values of
the motion commands and parameters. The
information concerning speed and acceleration
can then be made in whole numbers in
relation to this scaling. The value 1000 means
that the information in the commands is
related to 1000, thus in per mill.
32-84 Default Velocity
Range:
Function:
50
*
[1 to value in
parameter
32-83
Velocity Resolution
]
Indicates the default velocity, which
is always used when no velocity is
defined in the application. This value
refers to parameter
32-83 Velocity
Resolution
.
32-85 Default Acceleration
Range:
Function:
100
*
[0 to
1073741823]
Indicates the default acceleration used
when an acceleration value is not
defined in the application. This value is
in relation to parameter
32-81 Shortest
Ramp
and refers to parameter
32-83
Velocity Resolution
.
32-86 Acceleration Up for Limited Jerk
Range:
Function:
100
*
[0 to
1073741823
ms]
Acceleration ramp-up constant for limited
jerk movements. This specifies the time in
ms required to ramp the acceleration up
from 0 to maximum acceleration.
There are 4 different parameters for limited
jerk:
32-86
to
32-89
.
In this parameter, the maximum jerk used in
parameter
32-82 Ramp Type
for ramp type 2
is calculated. The following formulae are
used:
Max. accel. = Max. velocity
Parameter 32-81
Max. jerk =
Max. accel.
Parameter 32-86
NOTICE
Parameters
32-81 Shortest Ramp
and
32-86 Acceleration Up for Limited Jerk
are time values in milliseconds.
Calculation sample:
32-86 Acceleration Up for Limited Jerk
Range:
Function:
32-80 Maximum Velocity (Encoder)
= 3000
RPM
32-01, 32-31 Incremental Resolution
= 500
counts/rev PPR
32-81 Shortest Ramp
= 500 ms
32-86 Acceleration Up for Limited Jerk
= 200
ms
This results in:
32-80 Maximum Velocity (Encoder)
= 3000 x
500 x (4/60) = 100000 qc/s
= 100 qc/ms
MaxAcc = 200000 qc/s
2
= 0.2 qc/ms
2
MaxJerk = 1000000 qc/s
3
= 0.001 qc/ms
3
32-87 Acceleration Down for Limited Jerk
Range:
Function:
0
*
[0 to
1073741823 ms]
Acceleration ramp-down constant. This
specifies the time in milliseconds required
to ramp the acceleration down from
maximum acceleration to 0 (that is,
normally to constant maximum velocity). If
set to [0], this defaults to the same value
as in parameter
32-86 Acceleration Up for
Limited Jerk
.
NOTICE
If set to [0], this defaults to the same value as parameter
32-86 Acceleration Up for Limited Jerk
.
32-88 Deceleration Up for Limited Jerk
Range:
Function:
0
*
[0 to 1073741823
ms]
Deceleration ramp-up constant. This
specifies the number of milliseconds
required to ramp the deceleration up
from 0 to maximum deceleration.
NOTICE
If set to [0], this defaults to the same value as parameter
32-86 Acceleration Up for Limited Jerk
.
32-89 Decleration Down for Limited Jerk
Range:
Function:
0
*
[0 to 1073741823
ms]
Deceleration ramp-down constant. This
specifies the number of milliseconds
required to ramp the deceleration
down from maximum deceleration to 0
(that is, normally to 0 velocity).
NOTICE
If set to [0], this defaults to the same value as
32-86
Acceleration Up for Limited Jerk
Commissioning
Operating Instructions
MG33R302
Danfoss A/S © 04/2014 All rights reserved.
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