3 Product Description
18
Version: 1.2.1
MS249E
C-863.12 Mercury Controller
3.5.8
Generating a Dynamics Profile
In closed-loop operation the profile generator performs calculations to specify the target
position, velocity and acceleration of the axis for any point in time (dynamics profile). The
values calculated are called commanded values. The dynamics profile generated by the profile
generator of the C-863.12 depends on the motion parameters which are given by commands (p.
125), parameters and/or by joystick.
Motion
parameter
Com-
mands
Parameters
Remarks
Acceleration (A)
ACC
ACC?
Acceleration in closed-
loop operation
(parameter 0xB;
physical unit of
length/s
2
);
change with the
ACC
command or with
SPA
/
SEP
; can be saved
with
WPA
.
Is limited by parameter 0x4A
(maximum acceleration in closed-
loop operation).
Deceleration (D)
DEC
DEC?
Deceleration in closed-
loop operation
(parameter 0xC;
physical unit of
length/s
2
);
change with the
DEC
command or with
SPA
/
SEP
; can be saved
with
WPA
.
Is limited by parameter 0x4B
(maximum deceleration in closed-
loop operation).
Velocity (V)
VEL
VEL?
Velocity in closed-loop
operation (parameter
0x49; physical unit of
length/s);
change with the
VEL
command or with
SPA
/
SEP
; can be saved
with
WPA
.
Is limited by parameter 0xA
(maximum velocity in closed-loop
operation).
When a joystick is connected to the
C-863.12 and the joystick is
activated with the
JON
command, a
factor is applied to the current
velocity set with the
VEL
command. Further information see
"Joystick Control" (p. 89).
Target position at
the end of the
motion
MOV
MVR
GOH
STE
-
When a joystick is connected to the
C-863.12 and the joystick is
activated with the
JON
command,
the soft limits are set for the
particular target position. When
disabling the joystick, the target
position is set to the current
position for the joystick-controlled
axes. Further information see
"Joystick Control" (p. 89).