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Elektronik GmbH
Page 27 of 45
POS-124-*-PDP-1121
13.02.2013
5.2.18
A1 / A2 (Acceleration time)
Command
Parameters
Unit
Group
A1:I
X
A2:I
X
i= A|B
x= 1… 5000
ms
ms
STD
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.
5.2.19
D1 / D2 (Deceleration / braking distance)
Command
Parameters
Unit
Group
D1:I
X
D2:I
X
i= A|B|S
x= 1… 10000
mm
mm
mm
VMODE = SDD
VMODE = SDD
SDD + NC
This parameter is specified in mm
5
.
The deceleration distance 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
loop gain. A longer deceleration distance should be specified in the event of instability.
Parameter D:S is used as the emergency stopping ramp when disabling the START signal. After disa-
bling, a new target position (current position plus D:S) is calculated in relation to the speed and is speci-
fied as a demand value.
Calculation of control gain
CAUTION:
If the maximum position (POSITION command) is changed, the deceleration dis-
tance must also be adjusted. Otherwise this can result in instability and uncontrolled move-
ments.
5
CAUTION!
With older modules this parameter was specified in % of the maximum path. Since data specification for
this module has now been converted to mm the relationship between the path (PATH command) and these parame-
ters must be taken into account.
i
Intern
D
STROKE
G
=
