8 | Commissioning
STOBER
72
05/2019 | ID 442793.01
8.2.2.3
Parameterizing the position and velocity range
Enter position limits and velocity zones for set values, i.e. parameterize boundary values for reaching a position or velocity.
1.
Select the
Axis model
wizard >
Window position, velocity
.
2.
C40 Velocity window:
Parameterize a tolerance range for velocity tests.
3.
I22 Target window:
Parameterize a tolerance range for position tests.
4.
I87 Actual position in window time:
Parameterize how long a drive must stay in the specified position range before a corresponding status message is
output.
5.
Parameterize a tolerance range for lag tests.
8.2.2.4
Limiting the axis
If necessary, limit the movement variables for position, velocity, acceleration, jerk as well as torque/force according to the
applicable conditions for your drive model.
Limiting the position (optional)
1.
Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard
area.
2.
Select the
Axis model
wizard >
Limit: Position
.
3.
If necessary, limit the position of your axis using a software or hardware limit switch to secure the travel range.
Limiting velocity, acceleration, jerk (optional)
The specified default values are designed for slow velocities without gear units. For this reason, adapt the saved values.
Note that the velocity of the motor is parameterized in units other than that of the axis model. Verify the velocity of the
motor against the velocity of the output accordingly.
1.
Select the
Motor
wizard.
2.
To determine the maximum velocity at the output, copy the value of the B13 Nominal motor speed parameter to the
clipboard.
3.
Select the
Axis model
wizard >
Axis: Scaling
>
Conversion of positions, velocities, accelerations, torque/force
area.
4.
Velocity
line:
Paste the copied value of the B13 parameter from the clipboard without the unit and confirm with
ENTER
.
ð
The maximum velocity of the motor has been transferred to the output.
5.
Select the
Axis model
wizard >
Limit: Velocity, acceleration, jerk
.
6.
I10 Maximal speed:
Limit the maximum velocity of the output taking into account the configured Nominal motor speed in B13.
7.
Determine the limiting values for acceleration and jerk if necessary and enter them into the associated parameters.
