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A (Acceleration ramp time)
Command
A_1:i
A_2:i
Ramp function for the 1
The acceleration time for positioning is depending on the direction. 'A' corresponds to connection 15 and 'B'
corresponds to connection 16 (if POL = +). Normally A = flow P-A, B-T and B = flow P-B, A-T.
For quadrants 2 and 4, parameters D:A and D:B are used as the deceleration distance demand.
D (Deceleration / braking distance)
Command
D_1:i
D_2:i
This parameter is specified in mm
The deceleration distance is set for each direction of movement (A or B). The control gain is calculated inter-
nally depending on the deceleration distance. The shorter the deceleration distance, the higher the loop gain.
A longer deceleration distance should be specified in the event of instability.
Parameter D:S is used as the emergency stopping ramp when disabling the START signal. After disabling, a
new target position (current position plus D:S) is calculated in relation to the speed and is specified as a de-
mand value.
CAUTION: If the maximum position (POSITION command) is changed, the deceleration dis-
tance must also be adjusted. Otherwise this can result in instability and uncontrolled movements.
5
CAUTION! With older modules this parameter was specified in % of the maximum path. Since data specification for this
module has now been converted to mm the relationship between the path (PATH command) and these parameters must
be taken into account.
Page 31 of 70
Parameters
X
i= A|B
X
x= 1... 5000
st
rd
and 3
quadrants in SDD mode.
Parameters
X
i= A|B|S
X
x= 1... 10000
5
.
SYS
=
G
Intern
Unit
ms
Unit
mm
_
RANGE
Calculation of control gain
D
i
POS-124-U
Group
POS_CTRL
Group
POS_CTRL
24.01.2022
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