Motion Profile for the Velocity
Target position and target velocity are input values specified by the user. A motion profile for the velocity is calculated on the basis of these input values.
The motion profile for the velocity consists of an acceleration, a deceleration and a maximum velocity.
A linear ramp for both directions of movement is available.
The availability of the motion profile for the velocity depends on the operating mode.
In the following operating modes, the motion profile for the velocity is permanently active:
oJog
oHoming
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can be set for acceleration and deceleration.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Activation of the motion profile for velocity. 0 / Profile Off: Profile off 1 / Profile On: Profile on Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective immediately. |
- 0 1 1 |
UINT16 R/W per. - |
Modbus 1622 IDN P-0-3006.0.43 |
|
|
(ConF) → (ACG-) (nrMP) |
Maximum velocity of the motion profile for velocity. If a greater reference velocity is set in one of these operating modes, it is automatically limited to RAMP_v_max. This way, commissioning at limited velocity is easier to perform. Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective the next time the motor moves. |
usr_v 1 13200 2147483647 |
UINT32 R/W per. - |
Modbus 1554 IDN P-0-3006.0.9 |
|
Acceleration of the motion profile for velocity. Writing the value 0 has no effect on the parameter. Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective the next time the motor moves. |
usr_a 1 600 2147483647 |
UINT32 R/W per. - |
Modbus 1556 IDN P-0-3006.0.10 |
|
|
Deceleration of the motion profile for velocity. The minimum value depends on the operating mode:
Operating modes with minimum value 120: Jog Homing
Writing the value 0 has no effect on the parameter. Type: Unsigned decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective the next time the motor moves. |
usr_a 1 600 2147483647 |
UINT32 R/W per. - |
Modbus 1558 IDN P-0-3006.0.11 |
