Parameter set
Two objects are at the user’s disposal in the CoE for the configuration – the "POS Settings" (Index 0x8020) and the "POS Features" (Index 0x8021).
POS Settings: Velocity min.:
For reasons of performance when ramping down to the target position, the terminal needs a safety margin of 0.5 %. That means that, depending on the maximum velocity reached and the configured deceleration, the time is calculated at which the deceleration ramp begins. In order to always reach the destination reliably, 0.5 % is subtracted from the position determined. If the deceleration ramp has ended and the destination has not yet been reached, the terminal drives at the velocity “Velocity min.” to the destination. It must be configured in such a way that the motor is able to stop abruptly and without a step loss at this velocity.
Velocity max.:
The maximum velocity with which the motor drives during a travel command
 | "Speed range" (index 0x8012:05) [applies to EL70x1] Velocity min./max. are standardized to the configured "Speed range" (Index 0x8012:05). This means that for a "Speed range" of 4000 full steps/second, for example, for a speed output of 100 % (i.e. 4000 full steps/second) 10,000 should be entered under "Velocity max.", and 5,000 for 50 % (i.e. 2000 full steps/second). |
Acceleration pos.:
Acceleration time in the positive direction of rotation.
The five parameters for acceleration also refer to the set “Speed range” and are given in ms. With a setting of 1000, the terminal accelerates the motor from 0 to 100 % in 1000 ms. At a speed of 50 % the acceleration time is linearly reduced to half accordingly.
Acceleration neg.:
Acceleration time in the negative direction of rotation.
Deceleration pos.:
Deceleration time in the positive direction of rotation.
Deceleration neg.:
Deceleration time in the negative direction of rotation.
Emergency deceleration:
Emergency deceleration time (both directions of rotation). If “Emergency stop” is set in the appropriate PDO, the motor is stopped within this time.
Calibration position:
The current counter value is loaded with this value after calibration.
Calibration velocity (towards plc cam):
Velocity with which the motor travels towards the cam during calibration.
Calibration velocity (off plc cam):
Velocity with which the motor travels away from the cam during calibration.
Target window:
Target window of the travel distance control. "In-Target" is set if the motor comes to a stop within this target window.
In-Target timeout:
"In-Target" is not set if the motor is not within the target window after the expiry of the travel distance control after this set time. This condition can be recognized only by checking the falling edge of “Busy”.
Dead time compensation:
Compensation of the internal propagation delays. This parameter does not have to be changed with standard applications.
Modulo factor:
The “Modulo factor” is referred to for the calculation of the target position and the direction of rotation in the modulo operating modes. It refers to the controlled system.
Modulo tolerance window:
Tolerance window for the determination of the start condition of the modulo operating modes.
POS Features:
Start type:
The "Start type" specifies the type of calculation used to determine the target position (see below).
Time information:
The meaning of the "Actual drive time" displayed is configured by this parameter. At present this value cannot be changed, since there are no further selection options. The elapsed time of the travel command is displayed.
Invert calibration cam search direction:
In relation to a positive direction of rotation, the direction of the search for the calibration cam is configured here (travel towards the cam).
Invert sync impulse search direction:
In relation to a positive direction of rotation, the direction of the search is configured here in accordance with the HW sync pulse (travel away from the cam).