Keba ServoOne - Speed- Velocity Limits; Position Limitation

10.3Speed-/velocitylimits
l P 328[0] - CON_SCON_SMaxcanbeusedtosetthemaximumspeedlimit.
Inthedefaultsettingthespeedlimitisthesameastheratedspeedofthe
motor.Thepossiblesettingrangeis0-2000%.Theparametercannotbe
changedduringoperation.Achangeisonlyeffectiveafterrestartingthe
control.
l P 337[0] - CON_SCON_SMaxScaleenablesthetorquelimitsetinP 328[0]
tobescaledonline–thatis,duringoperation.
l ItisadditionallypossibleviaP 333[0] - CON_SCON_TMaxNegandP 334[0]
- CON_SCON_TMaxPostochangethetorquelimitfordifferentdirectionsof
rotationduringoperation.
l P 744[0] - MON_SDiffMaxisusedtospecifythepermissibledifference
betweenthesetpointspeedandtheactualspeed(trackingerror)in
revolutions.
l P 745[0] - MON_RefWindowisusedtodefinethepointatwhichthesetpoint
isconsideredtohavebeenreached.
ID Index Name Unit Description
167 0 MPRO_REF_OVR % Motionprofileoverridefactor
328 0 CON_SCON_SMax % Speedcontrolmaximumspeed
333 0 CON_SCON_SMaxNeg % Scalingofnegativemotorspeedlimit
334 0 CON_SCON_SMaxPos % Scalingofpositivemotorspeedlimit
335 0 CON_SCON_DirLock  Directionlockforspeedreferencevalue
337 0 CON_SCON_SMaxScale % Scalingofmotorspeedlimit
740 0 MON_SpeedThresh rpm Monitoringspeedthreshold
744 0 MON_SDiffMax rpm Speedtrackingerror
Table 10.3: “Limits / thresholds - Speed limits” parameters
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
326
10 Limitations / Thresholds
10.4Positionlimitation
l Positionlimitingisonlyapplicableinpositioningmodeandwillbeenabled
onlyoncehomingissuccessfullycompleted(seeSection"Homing"onpage
252).
l P 2235[0] - MPRO_402_SoftwarePosLimitisusedtodefinethelower
positionlimit.P 2235[1] - MPRO_402_SoftwarePosLimitisusedtodefine
theupperpositionlimit.Thisfunctionisalsoreferredtoas“softwarelimit
switches”.
l Inaddition,P 743[0] - MON_UsrPosDiffMaxcanbeusedtodefinethe
maximumtrackingerror.
l P 746[0] - MON_UsrPosWindowcanbeusedtodefinethezerospeed
window(positionsetpointreached).
Positioning mode Function
Absolute
Beforeenablinganabsolutemotiontask,acheckismade
whetherthetargetisinthevalidrange–thatis,withinthe
softwarelimitswitches.Ifthetargetisoutside,nomotiontask
issignalledandtheprogrammederrorreactionasperP 30
Error Reactionsisexecuted.
Endless
Thismodecanonlybeusedwhenusingspeed-controlled
operation.Thedrivetravelsuntilasoftwarelimitswitchis
detected.Thentheprogrammederrorreactionisexecuted.
Table 10.4: Positioning mode