23.7 Type Loop
if counter <> 0
Number of the motion task, which is to be processed if the counter is larger or smaller than zero
If counter = 0
Number of the motion task, which is to be processed if the counter equals zero
23.8 Type Jog
Velocity
velocity in counts/sec for constant velocity mode
23.9 Type go to Home / Index / Registration + Offset
Reference
Home
reference point set by the user
Index
reference points defined via DeviceNet
Registration
Offset
Offset from the reference point
Units
units for offset
Counts
Offset in counts
SI
Offset in SI units, unit is given by PUNIT
v_cmd source
Source for the speed setpoint
digital
v_cmd as speed setpoint
analog (SW1)
speed setpoint from analog input 1
v_cmd
speed setpoint in counts / 250 µsec for v_cmd source = digital
Acceleration/Deceleration
Units (acceleration)
ASCII: ACCUNIT
Default: 0 valid for all OPMODES
Select the unit for acceleration and ramp entries.
t_acc_total
This parameter determines the acceleration time to v_cmd.
t_dec_total
This parameter determines the deceleration (braking) time from v_cmd to zero.
Ramp
Determines which type of acceleration/braking ramp should be used to carry out a motion task.
Trapeze
The drive is given a constant linear acceleration/deceleration to the target speed
Sine²
To limit any jolting, the drive is accelerated/decelerated within the acceleration time along
an acceleration ramp without any discontinuities. The resulting speed characteristic corre
-
sponds to a sine² curve.
variable
The acceleration/braking ramps can be adjusted (in preparation).
Setting
The setting for the rate-of change limiting of the acceleration/braking ramps:
t_acc_total
Display of the total acceleration time
t_dec_total
Display of the total deceleration (braking) time
T1
Rate-of-change limiting of the acceleration ramp, maximum is half the acceleration time
T2
Rate-of-change limiting of the deceleration ramp, maximum is half the deceleration time
Setup Software 77
BECKHOFF 07/03 Screen page "Motion task parameters"
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