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Description of the Software Modules and Parameters
The profile data, including the target position, can also be changed in the Halt state. A
rising edge on the Start bit (Control Word Z108.1–, Bit 4 "New Set Value" or Bit 11 "Start
Positioning") is required for this. However the motion profile cannot be changed.
4.8.2.12 Aborting a Running Positioning Task
A running positioning task can be aborted by setting the Abort bit (Control Word
Bit 12). The data from the current positioning set are used for the deceleration ramp. The
execution of the Abort command is indicated immediately in Positioning Status
Bit 9. The end of the abort process is indicated with the Set Value Reached bit (Status
Word
A new positioning task can be started at the earliest when Set Speed = 0 (Positioning Sta-
tus
In contrast to halting a running positioning task using the Halt bit (Control Word
Bit 8), the positioning is not resumed when the Abort bit is cleared!
4.8.2.13 Set Value Profiles
There are two different speed profiles implemented for positioning: Trapezoidal and S-
Curve.
m With the trapezoidal profile (optimum time), a constant acceleration is assumed; the
m With the S-Curve profile (jerk-free), the acceleration is not changed abruptly but rather
The positioning time under otherwise equal boundary conditions (same route, same max-
imum speed and accelerations) is always longer with the S-Curve profile than with the
trapezoidal profile.
Z108.3–
Bit 10).
Z118.1–
Bit 4) is set. The Abort bit must not be set for this.
change in acceleration is therefore abrupt. In order to attenuate the resulting jerk, it is
possible to smooth the generated profile with a filter element. Any change to the
smoothing - for example due to the activation of a different positioning set - should only
be carried out after a positioning procedure has ended. The action of a change while a
positioning set is running will be prevented by the profile algorithm. This prevents un-
wanted creeping or overrunning the target.
follows a trapezoidal shape. The maximum jerk (change in acceleration) can be set.
Parameter manual b maXX BM3000
Document no.: 5.12001.07
4
Z108.1–
Z118.1–
Z108.1–
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