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POS-123-*-2030
5.6 Control parameter
5.6.1
A (Acceleration (ramp) time)
Command
Parameters
Unit
Group
A:i
x
i= A|B
x= 1… 5000
ms
VMODE=SDD
Ramp function for the 1
st
and 3
rd
quadrants.
The acceleration time for positioning is dependent on the direction.
“A” corresponds to connection 15 and “B”
corresponds to connection 16 (if POL = +).
Normally A = flow P-A, B-T and B = flow P-B, A-T.
For quadrants 2 and 4, parameters D:A and D:B are used as the deceleration distance demand.
5.6.2
D (Deceleration / braking distance)
Command
Parameters
Unit
Group
D:i
x
i= A|B|S
x= 1… 10000
mm
VMODE = SDD
This parameter is specified in mm
7
.
The deceleration stroke is set for each direction of movement (A or B). The control gain is calculated internally
depending on the deceleration distance. The shorter the deceleration distance, the higher the gain. A longer
deceleration distance should be specified in the event of instability.
Parameter D:S is used as the stopping ramp when disabling the START signal. After disabling, a new target
position (current position plus D:S) is calculated in relation to the speed and is specified as a command value.
Calculation of control gain
CAUTION:
If the maximum stroke (SYS_RANGE command) is changed, the deceleration
distance must also be adjusted. Otherwise this can result in instability and uncontrolled
movements.
7
CAUTION!
In older modules this parameter was specified in % of the maximum stroke. Since data specification for this
module has now been converted to mm, the relationship between the stroke (SYS_RANGE command) and these parame-
ters must be taken into account.
i
Intern
D
STROKE
G
