Manual PD4-C (USB)
9 Operating modes
Version: 1.4.1 / 22.07.2016 / FIR-v1626
44
•
(Polarity): Direction of rotation
•
h
(Profile Velocity): Maximum speed with which the position should be moved to
•
h
(End Velocity): Speed when reaching the target position
•
h
(Profile Acceleration): Required acceleration
•
h
(Profile deceleration): Required deceleration
•
h
(Quick Stop Deceleration): Emergency stop deceleration in case of the "Quick stop active"
state of the "DS402 Power State machine"
•
h
(Motion Profile Type): Type of ramp to be moved to; if the value is "0", jerk is not limited, if
value is "3", the values from 60A4
h
:1
h
- 4
h
are set as jerk limitations.
•
(Max Acceleration): The maximum acceleration that may not be exceeded when moving to
the end position.
•
(Max Deceleration): The maximum deceleration that may not be exceeded when moving to
the end position
•
(Profile Jerk), sub-index 01
h
to 04
h
: Objects for describing the limit values for the jerk. This
value will be clipped by the "Real Jerk Limit" (see 2067
h
for further information).
•
h
(Jerk Limit (internal)): object for the jerk limit.
Objects for the positioning run
The following graphic shows the objects involved for the marginal conditions for the positioning run.
Limit
function
Target position 607A
h
Position range limit 607B
h
Software position limit 607D
h
Multiplier
Polarity 607E
h
Target position
Limit
function
Multiplier
Profile velocity 6081
h
End velocity 6082
h
Trajectory
generator
Profile velocity
or end velocity
Limit
function
Profile acceleration 6083
h
Profile deceleration 6084
h
Quick-stop deceleration 6085
h
Max acceleration 60C5
h
Max deceleration 60C6
h
Profile acceleration
or profile deceleration
or quick-stop deceleration
Quick-stop option code 605A
h
Motion profile type 6086
h
Position demand
internal value
Positioning option code 60F2
h
Parameters for the target position
The following diagram shows an overview of the parameters that are used for moving to a target
position (figure is not to scale).
