Setting Parameters
01/02 AWB8230-1413GB
130
Acceleration and deceleration characteristics
Under PNU A097, define the characteristic of the acceleration
ramp. This applies to the first and second time ramp. You can
choose between four options (
a
fig. 128):
• Linear acceleration, value 00 (default)
• S-curve characteristic for acceleration, value 01
• U-curve characteristic for acceleration, value 02
• Inverted U-curve characteristic for acceleration, value 03
Under PNU A098, define the characteristic of the deceleration
ramp in the same way as for acceleration (
a
fig. 129):
• Linear deceleration, value 00 (default)
• S-curve characteristic for deceleration, value 01
• U-curve characteristic for deceleration, value 02
• Inverted U-curve characteristic for deceleration, value 03
In addition, you can define the curvature of the S- and U-curve
characteristics. Ten values are available for this purpose. Value 01
means the smallest curvature, value 10 the greatest (
a
fig. 130).
PNU A131 contains the curvature for acceleration, PNU A132 the
curvature for deceleration.
Figure 128: Acceleration characteristics
Figure 129: Deceleration characteristics
00
01
f
t
03
02
f
t
00
01
f
t
03
02
f
t
Figure 130: Curvature of the S- and U-curve characteristics
25
50
75
100
t
PNU A004, 100
PNU F002
96.9
82.4
17.6
3.1
[%]
[%]
f
10
02
99.6
PNU A004, 100
93.8
87.5
68.4
64.6
35.0
25
50
75
100
PNU F002
t
[%]
[%]
f
10
02
PNU
Name
Adjustable in RUN mode
Value
Function
WE
Normal
Extended
A097
Acceleration
characteristic
–
–
00
Linear acceleration of the motor at the first and second time
ramps
00
01
S-curve characteristic for acceleration of the motor at the
first and second time ramps
02
U-curve characteristic for acceleration of the motor at the
first and second time ramps
03
Inverted U-curve characteristic for acceleration of the motor
at the first and second time ramps
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