Subject to change without notification
Subject to change without notification
19
3.5.3 Speed and Ramps
If the command velocity is not to be determined by an external input (either an analog volt-
age or a pulse train), this can be achieved via
sor 0
. Then the rotational speed is set via the
v
-command, whose units are revolutions per minute (rpm or 1/
min
).
For all drive operating modes: The speed limit is not set directly, but approached via an
acceleration ramp. The slope of this ramp is set via the
ac
command. Its unit is 1/s
2
.
The slopes of the acceleration and deceleration ramps may be independently set via the two
commands
aca
and
acb
. With the command
ac
they are set to the same value. If the user
chooses an unacceptable value, the internal computer adopts a safe value, storing a positive
value for the acceleration ramp and a negative value for the deceleration ramp.
This applies to
aca
and
acb
, but not for
ac
.
The
gaca
command returns the value of the slope of the acceleration ramp, and the
gacb
command gives the value of the slope of the deceleration ramp. The command
gac
returns
the two values, the first being the acceleration ramp rate and the second the deceleration
ramp rate.
Command Function Description
v
Velocity Rotational speed [1/
min
]
gv
Get Velocity Indicate speed [1/
min
]
ac
Acceleration Slope of the acceleration and deceleration ramps [1/s
2
]
gac
Get Acceleration Display the slope of the acceleration and deceleration
ramps [1/s
2
]
aca
Acc. for Accelerating Slope of the acceleration ramp [1/s
2
]
gaca
Get ACA Display the slope of the acceleration ramp [1/s
2
]
acb
Acc. for Breaking Slope of the deceleration ramp [1/s
2
]
gacb
Get ACB Display the slope of the deceleration ramp [1/s
2
]
