Nord Drivesystems SK 200E Series Supplementary Manual page 42

POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
• S ramp with setpoint frequency (P600, setting 4)
The speed of constant travel is specified via the setpoint frequency. However, in positioning mode,
the frequency ramps are operated as S ramps (see previous paragraph).
The setpoint frequency can be changed via the analogue input or via a bus setpoint value. The
acceleration time (P102) and the deceleration time (P103) are relative to the maximum frequency
(P105) and are calculated as follows:
Ramp time * Acceleration time / Maximum frequency
Example
P105 = 50 Hz, P102 = 10 s, Setpoint 50 % = Setpoint frequency 25 Hz;
Ramp time = 2 * P102 * √(Setpoint frequency / P105) = 2 * 10 s * √( 25 Hz / 50 Hz)
The drive unit accelerates from 0 Hz to 25 Hz in 14.1 s.
The S ramp function is disabled during a reference point run.
Information
During a positioning movement, changes of the setpoint frequency or ramp times do not affect the acceleration or
the final speed of the drive unit. The new values are only adopted and included in the calculation for the next
positioning movement after the target position has been reached.
Information
Parameter P106 "Ramp rounding" is disabled if position control is enabled (P600, setting ≠ 0).
Information
The actual or effective ramp time may deviate from the parameterised values if the load limits are reached, or in
case of small movement paths.
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Setpoint frequency or ramp times
P106 - Ramp rounding
Effective ramp time
BU 0210 en-3117