Chapter 4 - Programmation
33
XtrapulsCD1-pm - User manual
3.2 - POSITIONING SEQUENCE
A positioning sequence is defined by:
- the position to be reached (absolute or relative),
- the motion speed,
- the acceleration time,
- the deceleration time.
The upper limit value for the position set point (absolute or relative) is + 2
16
x (position resolution
parameter value) - 1.
The lower limit value for the position set point (absolute or relative) is - 2
16
x (position resolution
parameter value).
The parameter acceleration and deceleration times define the time with regard to the maximum speed
parameter value. When the motion speed is lower than the maximum speed, the trajectory acceleration
and deceleration times are proportionally reduced in order to maintain the same acceleration and
deceleration values.
- a delay time at the end of the motion.
Linkage example of 2 positioning sequences without stopping (the deceleration ramp of the first sequence is 0):
Note: For a small displacement, when the programmed motion speed value cannot be reached, the motion speed
profile is modified according to the
Profile limit
parameter selection:
- When
Constant time
is selected, the trajectory acceleration and deceleration are reduced and the
profile is calculated according to the programmed acceleration and deceleration time values. This
selection allows a smooth positioning for small displacements, however the displacement time is
increased.
- When
Constant slope
is selected, the motor acceleration and deceleration are similar to the profile
acceleration and deceleration programmed values. This selection allows a faster positioning for small
displacements, however a position loop overshoot may occur.
Sequence 1 with Tdec = 0 and
Next = 2
Sequence 2
Delay time
Maximum speed
Acceleration time
Deceleration time
Motion speed
Maximum speed
Acceleration time
Deceleration time
Motion speed
Deceleration time
Maximum speed
Acceleration time Deceleration time
Motion speed
