Project 06/2005
Danaher
Motion
74 Rev
E
M-SS-005-03l
Axis.DecelerationRate
defines the axis deceleration maximum scaling
factor from 0.1 to 100 persent independently of velocity, acceleration or jerk.
<axis>.DecelerationRate
may be modal or nodal.
Axis.JerkRate
defines the axis Jerk maximum scaling factor from 0.1 to 100
persents independently of velocity, acceleration or deceleration.
<axis>.JerkRate
may be modal or nodal.
For example:
A1.VRate = 50 ‘ VelocityRate 50%
A1.ARate = 70 ‘ AccelerationRate 70%
A1.DRate = 80 ‘ AccelerationRate 80%
A1.JRate = 60 ‘ JerkRate 60%
3. 11
V
ERIFY
S
ETTINGS
Now, you can check the system using the MC
MOVE
command. This
command is discussed in detail later. For right now, use it to verify some of
the settings above. First, enable your drive.
3.11.1. Enabling
Enable the drive with the following commands:
System.Enable = ON
A1.Enable = ON
After the SERCOS phase is set to 4, the drive can be enabled. This condition
is indicated with an “S” on the front of each SERVO
STAR
amplifier. You do
this with MC command:
Sercos.Phase = 4.
The code to do this is normally generated in the BASIC Moves auto-setup
program which runs each time you start a new project. A decimal point at the
bottom-left of the S on the SERVO
STAR
drive display should come on when
the drive is enabled. The decimal point may flash under certain conditions.
You must turn on
SYSTEM.ENABLE
(
SYS.EN
) before turning on any of the
drive-enable properties. This is because when
SYSTEM.ENABLE
is off, it
forces all the axis-enable properties off.
3.11.2. Motion
Flags
The next step in preparing a system for motion is turning on the motion flags.
There are two motion flags that must be on: the system motion flag and the
axis motion flag:
System.Motion = ON
A1.Motion = ON
3.11.3. Move
Now you can perform a move command. For example, enter:
Move A1 1000 VelocityCruise = 10
to move to position 1000 with a velocity of 10. You should see the motor
move. Use a hand tachometer or other speed sensing device to verify that
the speed settings are correct. Move to various positions using the
incremental move (by setting
Absolute
to OFF) and verify your position units:
Move 1000 VelocityCruise = 10 Absolute = Off
