Pnu 1784: Acceleration Jolt Limiting; Pnu 1786: Deceleration Time; Pnu 1787: Deceleration Jolt Limiting; Pnu 1788: Next Motion Task - Kollmorgen S300 Original Manual

Parameter channel (PKW)
4.2.5.5

PNU 1784: acceleration jolt limiting

For S400/S600 only. This parameter defines the form of the acceleration ramp.
If a value ¹ 0 is entered here, then a sin²-ramp (S-curve) is used to reach the target velocity.
To employ sine²-ramps, the configuration variable SPSET has to be set to 2 (via the ASCII-channel
or the ASCII-terminal in the setup software) and to be saved.
4.2.5.6

PNU 1786: deceleration time

This parameter defines the total time or rate (depending on the type of units selected for decelera-
tion) to reduce the velocity to 0 at the target position.
4.2.5.7

PNU 1787: deceleration jolt limiting

For S400/S600 only. This parameter defines the form of the braking/deceleration ramp.
If a value ¹ 0 is entered here, then a sin²-ramp (S-curve) is used for braking/deceleration.
4.2.5.8

PNU 1788: next motion task

S400/S600:
The motion task number of the motion task to be started can be from 1 to 180 (motion tasks in
EEPROM) or 192 to 255 (motion tasks in RAM).
S300/S700:
The motion task number of the motion task to be started can be from 1 bis 200 (motion tasks in
EEPROM) or 201 .. 300 (motion tasks in RAM).
4.2.5.9

PNU 1789: start delay

This parameter is used to set a delay time before the start of a motion task.
4.2.5.10

PNU 1310: copy motion task

This parameter can be used to copy motion tasks. The source motion task must be entered in the
high-value portion of PWE (PZD 5 & 6) and the target motion task must be entered in the low-value
portion of PWE (PZD 7 & 8).
4.2.5.11

PNU 1311: position, 32 bit floating decimal point format

For S400/S600 only. With this object the target position for motion task 0 (direct motion task, see
ASCII – command O_P) can be set in 32 Bit Floating decimal point format (IEEE).
Right of decimal point positions will be truncated. This objekt is, aside from the data format, identi-
cal PNU 1790. The defaults are indicated in micrometers.
Use:
Controls that support only 16 Bit integer and 32 Bit floating decimal point.
4.2.5.12

PNU 1312: velocity, 32 bit floating decimal point format

For S400/S600 only. With this object the velocity for motion task 0 (direct motion task, see ASCII –
command O_V) can be set in 32 Bit Floating decimal point format (IEEE).
Right of decimal point positions will be truncated. This objekt is, aside from the data format, identi-
cal PNU 1791.
Use:
Controls that support only 16 Bit integer and 32 Bit floating decimal point.
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04/2017
PROFIBUS for S300/S400/S600/S700
Kollmorgen