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

S300-S400-S600-S700 PROFIBUS | 5 Parameter channel (PKW)

5.2.5.5 PNU 1784: Acceleration jolt limiting

For S400/S600 only. This parameter defines the form of the acceleration ramp. If a value ≠ 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-ter-
minal in the setup software) and to be saved.

5.2.5.6 PNU 1786: Deceleration time

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

5.2.5.7 PNU 1787: Deceleration jolt limiting

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

5.2.5.8 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).

5.2.5.9 PNU 1789: Start delay

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

5.2.5.10 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).

5.2.5.11 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, identical PNU 1790.
The defaults are indicated in micrometers.
Use:
Controls that support only 16 Bit integer and 32 Bit floating decimal point.

5.2.5.12 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, identical PNU 1791.
Use:
Controls that support only 16 Bit integer and 32 Bit floating decimal point.
32 Kollmorgen | kdn.kollmorgen.com | December 2019