7 | Commissioning STOBER
28
02/2020 | ID 443025.06
7.1.4.5 Parameterizing the position and velocity window
Enter position limits and velocity zones for set values. To do so, parameterize boundary values for reaching a position or
velocity.
1. Select the Axis model wizard > Window position, velocity.
2. C40 Velocity window:
Parameterize a tolerance range for velocity tests.
3. I22 Target window:
Parameterize a tolerance range for position tests.
4. I87 Actual position in window time:
Parameterize how long a drive must stay in the specified position range before a corresponding status message is
output.
5. A546 Following error window
Parameterize a tolerance range for lag tests.
7.1.4.6 Limiting the axis
The tasks of a controller include setting axis limits and monitoring them. The set values necessary for this are parameterized
in the controller and transmitted to the individual drive controller. Note that, for this reason, the set values of the controller
are not negatively affected by the individually configured values on the drive controller side.
Limiting the position (optional)
1. Highlight the relevant drive controller in the project tree and click on the first projected axis in the project menu >
Wizard area.
2. Select the Axis model wizard > Limit: Position.
3. If necessary, limit the position of your axis using a software or hardware limit switch to secure the travel range.
Limiting velocity, acceleration, jerk (optional)
The specified default values are designed for slow velocities without gear units. For this reason, adapt the saved values.
Note that the velocity of the motor is parameterized in units other than that of the axis model. Therefore check the velocity
of the motor against the velocity of the output.
1. Select the Motor wizard.
2. To determine the maximum velocity at the output, copy the value of the B13 Nominal motor speed parameter to the
clipboard.
3. Select the Axis model wizard > Axis: Scaling > Conversion of positions, velocities, accelerations, torque/force area.
4. Velocity line:
Paste the copied value of the B13 parameter from the clipboard and confirm with ENTER.
5. Select the Axis model wizard > Limit: Velocity, acceleration, jerk.
6. I10 Maximal speed:
The specified velocity is in relation to 3000rpm. Change this if necessary.
7. Determine the limiting values for acceleration and jerk if necessary and enter them into the associated parameters.
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