Programming
890CS Common Bus Supply - Frames B & D; 890CD Common Bus Drive and 890SD Standalone Drive - Frames B, C & D
Page
D-95
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TRAJ GEN
SETUP::MOTION::TRAJ GEN
Designed for BRUSHLESS SERVO Motor Control Mode.
This Trajectory Generator block defines the basic parameters of the position and speed loop.
Parameter Descriptions
TYPE
PREF: 137.01, 138.01, 139.01 Default: FALSE
Range: FALSE / TRUE
Set True to order the trajectory generator to behave like a ‘master’ path. In this mode the internals equations are changed to take
into account that the ‘master’ move is not predictable.
POS. WINDOW
PREF: 137.02, 138.02, 139.02 Default: 65
Range: 0 to 2147483647
The move is set to be finished (PDONE = TRUE) when the distance left is smaller than the position window (in units).
VEL. WINDOW
PREF: 137.03, 138.03, 139.03 Default: 650
Range: 0 to 2147483647
The TG is set to be at the desired velocity (VDONE = TRUE) when the velocity output is within than the velocity window of the
programmed velocity (in units/s).
MODULO ENABLE
PREF: 137.04, 138.04, 139.04 Default: FALSE
Range: FALSE / TRUE
If set to true, the TG position parameters wraps around MODULO UP and MODULO LOW.
MODULO UPPER
PREF: 137.05, 138.05, 139.05 Default: 0
Range: 0 to 536870911
Upper value of position parameters when modulo is enabled (in units).
MODULO LOWER
PREF: 137.06, 138.06, 139.06 Default: 0
Range: -536870912 to 0
Lower value of position parameters when modulo is enabled (in units).
