Parameterisable boundary conditions, specifying the mode of operation
TS505520 Version: 1.3
PREFERCONSTV
ELO
1048576 0x0010 0000 Bit = 0: (default)
Default setting
Bit = 1:
The system will try to use a phase with
constant velocity, instead of just one 5th
order polynomial. This can result in a
combination of a 5th-order polynomial,
a synchronous phase and another 5th-
order polynomial (P5-P1-P5), (see
further explanation) [}25]. The
maximum given acceleration and
deceleration is used. To control and
limit the jerk it is recommended to set
MAXJERK in the bit mask.
IGNOREMASTER
ACC
2097152 0x0020 0000 Bit = 0: (default)
Default setting
Bit = 1:
When calculating the coupling, the
acceleration of the master is ignored,
i.e. set to zero. This causes the use of
internal optimizations. At moderate
acceleration, this specification leads to
tolerable following errors. After the
following error has been reduced, the
relative position accuracy is
independent of this setting.
NOTE
The checks listed above apply only to the synchronization phase (GEARINSYNCSTATE_SYNCHRONIZ-
ING), not to the phase of synchronized movement. These calculations and checks are also only possible
when the assumption is made that the master continues to move with constant velocity after the coupling
time, i.e. that it is not subject to acceleration. Making other assumptions for the master makes no sense,
since at the time of coupling it is generally not known how the master will move in the future.
To Next Page
Loading...
General