KEB COMBIVERT F5-A Applications Manual page 320

Posi- and synchronous operating
The response to errors can be similarly flexible.
At each positioning, the inverter calculates in 1ms-cycle a speed and position that the drive
should have at that time, to reach the target in compliance with all settings. This is the so-called speed / position
profile.
Maximum acceleration /
deceleration
Maximum jerk
Maximum speed during
positioning
That results in the following example behaviour of position, speed, acceleration, and jolt:
If the drive cannot follow the position profile (e.g., due to reaching the torque limits), the position controller
intervenes and changes the setpoint speed with respect to the profile speed. Thereby it is possible that the
programmed values for maximum acceleration / deceleration and maximum jolt are exceeded.
Page 7.12 - 28 COMBIVERT F5-A, -E, -H
defined by acceleration / deceleration time (oP.28...oP.31)
defined by S-curve times (oP.32...oP.35 and oP.70...oP.73)
= ru.63 "profile speed" + PS.09 "pos/syn position limit.
The profile speed is either PS.25 "index / speed" or PS.31 "max. speed %" *
oP.10 "max. reference forward" (dependent on PS.00/ bit 4). The speed limits
oP.10 / oP.11 "max. reference" do not act as setpoint limits anymore. oP.14 /
oP.15 "abs. max. reference" remains operative. The error "speed limit exceeded"
is triggered when exceeding the trigger level oP.40 / oP41.
ru.61 target
position
ru.56 Set position
Profile speed
acceleration/
deceleration
jerk
Settings
time
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