6 Operating modes
Acce
le
ra
tio
n
Je
rk
Sp
ee
d
Profile velocity (60FF
h
)
t
t
t
Max. acceleration (60C5
h
)
Begin acceleration
jerk (60A4h:1)
End deceleration
jerk (60A4h:4)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
Velocity window (606D
h
)
Velocity window (606D
h
)
Begin deceleration
jerk (60A4h:3)
End acceleration
jerk (60A4h:2)
6.3.6.4 Limitations in the trapezoidal case
This figure shows the adjustable limitations for the trapezoidal case (6086
= 0).
Acce
le
ra
tio
n
Sp
ee
d
Profile velocity (60FF
h
)
Max. acceleration (60C5
h
)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
Velocity window (606D
h
)
Velocity window (606D
h
)
t
t
Version: 2.0.1 / FIR-v1650
60
