Drive Versions Including Change To Lower Speed - WAGO -I/O-SYSTEM 750 Manual

36 • 750-636 [DC Drive Controller]
Function Description
P3:
The duration of phase P3 results from the total duration and the subtraction of
all other phases: P3 = Ptot –(P1 + P2 + P4 + P5).
P4:
A waypoint in the direction of travel before the setpoint position determines
the start of phase P4. The waypoint is always calculated from the
ShutDown_Distance parameter, relative to the setpoint position. The pulse
duty cycle for PWM of phase P4 is set via CurrentControl_PWM parameter.
P5:
Phase P5 defines the deceleration ramp and is set via RampTime_STOP
parameter. If its value is 0, the process is stopped immediately according to
StopMode.
Additionally, it is possible to enable CurrentControl_PWM during a
'MovePos' or 'MoveNeg' approach via CurrentControl_ON=1 control bit.
This can also be done during a positioning drive in phase P3.
2.1.1.9.10.2

Drive Versions Including Change to Lower Speed

Example 15, "ShutDown_Distance is reached in phase P3":
100 %
Fig. 2.1.1-22: Example 15, "ShutDown_Distance is reached in phase P3"
In this example, the individual phases do not overlap due to configuration and
are executed sequentially from P1 to P5. If the distance between the start
position and the setpoint position decreases, phase 3, and even phase 2, may
be skipped by the moving cycle. The following two figures illustrate this
example. The CurrentControl_ON control bit is disabled.
P1
CurrentLimit_PWM
50 %
0 %
RampTime_START CurrentLimit_Time
P2 P3
PWM 100 %
ShutDown_Distance > Prestop
CurrentControl_PWM
P4 P5
Set Point Position
Prestop
RampTime_STOP
WAGO-I/O-SYSTEM 750
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I/O-Modules