Keba ServoOne - PG Mode with Position Control

Image 8.25: Profile mode speed control
Profile Generator with speed control:
l ControlmodeP 300[0] - CON_CfgCon =speedcontrol
l UnderProfileselecttheprofilegenerator(PG)P 301[0] - CON_Ref_Mode =
PG(0)
l Selectionofreferencesource/>P 165[0] - MPRO_REF_SEL
l Scaling
l Selectjerkconditions
l Setstopramps,smoothing,filter,homing
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
245
8 Motion profile
Image 8.26: Speed control in PG mode, smoothing
8.3.2PGmodewithpositioncontrol
Travel commands are transmitted to the internal profile generator (see Section
"Basic settings" on page 244). It is composed of the following items:
l Targetposition
l Maximumtravelspeed
l Maximumacceleration
l Maximumdeceleration
l TheprofilegeneratorusestheP 166[0] - MPRO_REF_JTIMEjerkvalues
andaP 167[0] - MPRO_REF_OVRoverridefactorforthetravelspeedin
ordertogeneratethetrajectoryforthepositionsetpointthatwilltaketheleast
amountoftime,takingalllimitationsintoaccount.
l Thepositionreferencesarethenprocessedwiththeselectedinterpolation
method.