SPSET

Description

The SPSET variable generates an enable for the S-curve (= sin² ramp) for executing internal motion tasks (OPMODE=8).

• SPSET=0 Motion blocks are carried out exclusively with trapeze-form ramps.
• SPSET=1 Motion blocks are carried out with ramps which are defined within the motion tasks.
  With sin^2 curves, following motion tasks with flying change of the velocity are allways executed with intermediate stop.
  A change of this variable from 1 to 0 means that all the S-curve motion tasks will be executed as trapeze-form motion tasks, without having to modify any elements of the motion tasks.
• SPSET=2 The same as SPSET=1, except the motion blocks are always carried out with ramps which are defined within the motion tasks and the acc/dec is not changed if e.g. PVMAX is changed. Especially with very small moves, the time to get to the next position was very long. (3.42)
  With sin^2 curves, following motion tasks with flying change of the speed are allways executed with intermediate stop.
  A change of this variable from 1 to 0 means that all the S-curve motion tasks will be executed as trapeze-form motion tasks, without having to modify any elements of the motion tasks.
• SPSET=3 (starting with firmware 4.91)
  Sin^2 motion tasks can be run more dynamically (tarjectory is updated every 250µs instead of 1ms) and with speed and current feed forward. The result is, that the position error while moving is much smaller and the transient oscillation at the end of the move is much better. Speed feed forward can be set by GPFFV and current feed forward by GPFFT.
  Sin^2 motion tasks, that were programmed with SPSET=1 have the same function under SPSET=3.
  To select this curve generator, the Sin^2 table has to be in the Flash. Other shapes cannot be used.
• SPSET=4 (starting with firmware 5.41)
  In Addition to SPSET=3, SPSET=4 enables a table that is like the sin^2 table, but also the deviation of the acceleration is continual. This helps in case of very low frequency ringing mechanics.