Manual PD4-C (USB)
9 Operating modes
Version: 1.4.1 / 22.07.2016 / FIR-v1626
45
Set point (607A
h
)
Profile velocity (6081
h
)
t
t
t
t
re
la
ti
ve
(
6
0
4
0
h
B
it
6=
1)
a
b
so
lu
te
(
6
0
4
0
h
B
it
6=
0)
P
o
si
ti
o
n
A
cce
le
ra
ti
o
n
Je
rk
S
p
e
e
d
Max. acceleration (60C5
h
)
Begin acceleration
jerk (60A4
h:1)
Begin deceleration
jerk (60A4
h:3)
End acceleration
jerk (60A4
h:2)
End deceleration
jerk (60A4
h:4)
Max. deceleration (60C6
h
)
Profile acceleration (6083
h
)
Profile deceleration (6084
h
)
End velocity (6082
h
)
9.1.5 Precision loss with relative movements
Chaining relative move commands can lead to loss of precision, when having the "end velocity" set to a
non zero value. The following image shows, why.
P
osi
tio
n
t
Target position
Arriving at target position
1ms
1: Sampling before
arriving the target
position
2: Sampling after
arriving the
target position
The current position is sampled once a millisecond. It is possible, that the target position is arrived
between two samples. In case the end velocity is not zero the sample of the position value after arriving
