23.1 Type Motion
Trajectory
If the drop down list Trajectory is set to internal, the motion tasks from the internal trajectory generator are used.
Otherwise entries from the lookup table of the amplifier (can be downloaded over the CAN Download program)
are selected. You can get more information on this topic from our application department.
Velocity profile No.
Selection of a velocity profile from the table selected by trajectory. You can get more information on this topic
from our application department.
Units (general)
Select the unit for path and speed entries
Selection Path Velocity
Counts
x = 1048576*N*Incr.
with N = no. of motor turns, Nmax=+/- 2047
x = 140/32*n*min*Incr.
with n = rotational speed of the motor shaft
SI / User
µm µm/s
Type
This selection determines whether the motion task is interpreted as a relative or an absolute task.
ABS
movement to an absolute target position, referred to the reference point.
REL cmd
relative to last target (setpoint) position (in connection with motion block changeover: e.g.
summing operation)
REL act
relative to actual position at start (in connection with motion block changeover: e.g. register
control)
REL InPos
when the load is in the InPosition window: relative to last target position when the load is
not in the InPosition window: relative to actual position at start
REL Latch pos.
please contact our applications department.
REL Latch neg.
please contact our applications department.
In the setup software, the transmission of an absolute task to the RAM of the servo amplifier is prevented for
axes of the ROTARY type.
s_cmd
This parameter determines the distance to be traveled.
v_cmd-source
The velocity can be defined in the motion block, or provided as an analog setpoint.
digital
digital setpoint provision through v_cmd
analog An In 1
analog setpoint provision at input An In 1 (terminals X3/4-5, scaling is used. The value is
read in at the start of the motion task.
v_cmd
This parameter determines the velocity of movement for digital setpoint provision. If v_max is set to a value that
is less than v_cmd at a later time, the position controller will use the smaller value.
Setup Software 71
BECKHOFF 07/03 Screen page "Motion task parameters"
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