Danfoss MCO 305 Design Manual page 167

MCO 305 Design Guide
Index
4275 PFG_G_JSTATE
4276 PFG_G_VCMDSIGNED
4277 PFG_G_JERKSTOPPATH
__ Software Reference __
Description Axis Process Data / CAM profile
Contains the state of the Limited Jerk Movement state machine. These could be:
PGS_JRK_ STOPPED
0 // Stopped
PGS_JRK_VEL_CONST
1 // Constant velocity (i.e. target velocity)
PGS_JRK_ACC_UP
2 // Acceleration ramp-up (towards target velocity)
PGS_JRK_ACC_CONST
3 // Acceleration constant (towards target velocity)
PGS_JRK_ACC_DOWN
4 // Acceleration ramp-down (towards target velocity)
PGS_JRK_ACC_DOWN_HIGH
5 // Acceleration ramp-down (towards maximum acceleration)
PGS_JRK_DEC_UP
6 // Deceleration ramp-up (towards target velocity)
PGS_JRK_DEC_CONST
7 // Deceleration constant (towards target velocity)
PGS_JRK_DEC_DOWN
8 // Deceleration ramp-down (towards target velocity)
PGS_JRK_DEC_DOWN_HIGH
9 // Deceleration ramp-down (towards maximum deceleration)
PGS_JRK_DEC_UP_CROSS
10 // Deceleration ramp-up (will cross 0 velocity)
PGS_JRK_DEC_CONST_CROSS
11 // Deceleration constant (will cross 0 velocity)
PGS_JRK_DEC_DOWN_CROSS
12 // Deceleration ramp-down (will cross 0 velocity)
Signed reference velocity [qc/st],
identical to SYSVAR[4186], but with sign
Delivers the length of the stop path assuming that a motor stop with the actual
velocity and actual acceleration would be done. For this calculation the currently
active values for VEL, ACC, DEC, and JERKMIN are used. This length of the stop
path of course varies when i.e. the velocity or par. Jerk Duration JERKMIN or any
other relevant parameter is changed.
This calculation can also be used when a RAMPTYPE other than 2 is used. In that
case the value is calculated as if RAMPTYPE 2 is active.
Be aware that the value can change unexpected if the system is in the process of
doing a limited jerk movement and is in an overshoot situation. This will occur if a
POSA is done with a position that can't be reached (given the current actual
velocity) without going past the position, turning around, and coming back to the
position. It happens because the limited jerk movement is designed to reverse
direction without the need to come to a standstill.
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