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BECKHOFF
23.1
Type Motion
If the drop down list Trajectory is set to internal, the motion tasks from the internal trajectory generator are used.
Trajectory
Otherwise entries from the lookup table of the amplifier (can be downloaded over the CAN Download program)
are selected. You can get more information on this topic from our application department.
Velocity profile No.
Selection of a velocity profile from the table selected by trajectory. You can get more information on this topic
from our application department.
Select the unit for path and speed entries
Units (general)
Selection
Counts
SI / User
Type
This selection determines whether the motion task is interpreted as a relative or an absolute task.
ABS
REL cmd
REL act
REL InPos
REL Latch pos.
REL Latch neg.
In the setup software, the transmission of an absolute task to the RAM of the servo amplifier is prevented for
axes of the ROTARY type.
This parameter determines the distance to be traveled.
s_cmd
The velocity can be defined in the motion block, or provided as an analog setpoint.
v_cmd-source
digital
analog An In 1
This parameter determines the velocity of movement for digital setpoint provision. If v_max is set to a value that
v_cmd
is less than v_cmd at a later time, the position controller will use the smaller value.
Setup Software
07/03
Path
x = 1048576 * N * Incr.
with N = no. of motor turns, Nmax=+/- 2047
µm
movement to an absolute target position, referred to the reference point.
relative to last target (setpoint) position (in connection with motion block changeover: e.g.
summing operation)
relative to actual position at start (in connection with motion block changeover: e.g. register
control)
when the load is in the InPosition window: relative to last target position when the load is
not in the InPosition window: relative to actual position at start
please contact our applications department.
please contact our applications department.
digital setpoint provision through v_cmd
analog setpoint provision at input An In 1 (terminals X3/4-5, scaling is used. The value is
read in at the start of the motion task.
Screen page "Motion task parameters"
Velocity
x = 140/32 * n * min * Incr.
with n = rotational speed of the motor shaft
µm/s
71
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