Examples of two travel commands with a dynamic change of the target position

t1:

Execute = 1
Target position = 200000
Velocity = 2000
Start type = 0x0001
Acceleration = 1000
Deceleration = 1000

Busy = 1
Accelerate = 1

• Specification of the first parameter
• Start of the acceleration phase

t2:

Accelerate = 0

• End of the acceleration phase

t3:

Target position = 100000
Velocity = 1500
Start type = 0x1001
Acceleration = 2000
Deceleration = 2000

• Change of the parameters
• Activation by new start types

t4:

Decelerate = 1

• Start of the deceleration phase

t5:

Execute = 0

Busy = 0
In-Target = 1
Decelerate = 0

• End of the deceleration phase
• Motor is at the new target position

t6 - t9:

• Absolute travel back to the start position 0

t1:

Execute = 1
Target position = 200000
Velocity = 5000
Start type = 0x0001
Acceleration = 3000
Deceleration = 5000

Busy = 1
Accelerate = 1

• Specification of the 1^st parameter
• Start of the 1^st acceleration phase

t2:

Accelerate = 0

• End of the 1^st acceleration phase

t3:

Target position = 100000
Velocity = 1500
Start type = 0x1001
Acceleration = 1000
Deceleration = 2000

Warning = 1
Decelerate = 1

• Change of the parameters
• Activation by new start types
• Warning of overrunning the target position
• Start of the 1^st deceleration phase

t4:

Accelerate = 1
Decelerate = 0

• End of the 1^st deceleration phase
• Start of the 2^nd acceleration phase in the opposite direction

t5:

Accelerate = 0
Decelerate = 1

• End of the 2^nd acceleration phase
• Start of the 2^nd deceleration phase

t6:

Execute = 0

Busy = 0
In-Target = 1
Decelerate = 0

• End of the 2^nd deceleration phase
• Motor is at the new target position

t7 - t10:

• Absolute travel back to the start position 0