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POS-124-U-PFN-2030
A (Acceleration (ramp) time)
Command
Parameters
Unit
Group
A_1:i
X
A_2:i
X
i= A|B
x= 1… 5000
ms
POSITION
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.
D (Deceleration / braking distance)
Command
Parameters
Unit
Group
D_1:i
X
D_2:i
X
i= A|B|S
x= 1… 10000
mm
POSITION
SDD
This parameter is specified in mm
6
.
The deceleration distance is set for each direction of movement (A or B). The control gain is calculated inter-
nally 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 disabling, a
new target position (current position plus D:S) is calculated in relation to the speed and is specified as a de-
mand value.
i
Intern
D
RANGE
SYS
G
_
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 movements.
6
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 parameters must
be taken into account.