ASCII Objekt-Reference 

 

Home 

Screen page "Motion task parameters" 

You can use the ASCII-terminal to completely define motion blocks, with the "ORDER" command. You can obtain further information about this command from our applications department. 


Number 

Displays the currently active motion task number.
 

Type 

Selection of the basic motion task type. 

Type 

Description 

Motion 

Standard motion task 

Delay 

Delay in ms 

Comparison tests 

branch conditional on parameter value 

Modify parameter 

set parameter value 

Initialize loop 

define loop parameters 

Decrement counter 

decrease loop counter by one step 

Loop 

branch conditional on loop counter value 

Jog 

move at constant velocity 

Go to home / index / registration + offset 

move to reference point 

Depending upon selected type the representation of the screen page changes. The individual variants are described in the following sections. 

The motion task type “Motion” is always available, all other types presuppose an installed extension card (DeviceNet, Sercos or I/O-14/08) and orient by the Graphical Motion Tasking and the DeviceNet communication profile. You find further information in the appropriate manuals 


Type Motion 

Trajectory 

If the drop down list Trajectory is set to internal, the motion tasks from the internal trajectory generator are used.  Otherwise entries from the lookup table of the amplifier (can be downloaded over the CAN Download program) are selected. You can get more information on this topic from our application department.
 

Velocity profile No. 

Selection of a velocity profile from the table selected by trajectory. You can get more information on this topic from our application department.
 

Units (general) 

Select the unit for path and speed entries 

Selection 

Path 

Velocity 

Counts 

x = 1048576 * N * Incr.
with N = no. of motor turns, Nmax=+/- 2047 

x = 140/32 * n * min * Incr.
with n = rotational speed of the motor shaft 

SI / User 

µm 

µm/s 


Type 

This selection determines whether the motion task is interpreted as a relative or an absolute task. 

ABS 

movement to an absolute target position, referred to the reference point. 

REL cmd 

relative to last target (setpoint) position (in connection with motion block changeover: e.g. summing operation) 

REL act 

relative to actual position at start (in connection with motion block changeover: e.g. register control) 

REL InPos 

when the load is in the InPosition window: relative to last target position when the load is not in the InPosition window: relative to actual position at start 

REL Latch pos. 

please contact our applications department. 

REL Latch neg. 

please contact our applications department. 

In the setup software, the transmission of an absolute task to the RAM of the servo amplifier is prevented for axes of the ROTARY type.
 

s_cmd 

This parameter determines the distance to be traveled.
 

v_cmd-source 

The velocity can be defined in the motion block, or provided as an analog setpoint. 

digital 

digital setpoint provision through v_cmd 

analog An In 1 

analog setpoint provision at input An In 1 (terminals X3/4-5, scaling is used. The value is read in at the start of the motion task. 


v_cmd 

This parameter determines the velocity of movement for digital setpoint provision. If v_max is set to a value that is less than v_cmd at a later time, the position controller will use the smaller value. 



Acceleration/Deceleration 


Units (acceleration) 

ASCII: ACCUNIT 

Default: 0 

valid for all OPMODES 

Select the unit for acceleration and ramp entries.
 

t_acc_total 

This parameter determines the acceleration time to v_cmd.
 

t_dec_total 

This parameter determines the deceleration (braking) time from v_cmd to zero.
 

Ramp 

Determines which type of acceleration/braking ramp should be used to carry out a motion task. 

Trapeze 

The drive is given a constant linear acceleration/deceleration to the target speed 

Sine² 

To limit any jolting, the drive is accelerated/decelerated within the acceleration time along an acceleration ramp without any discontinuities. The resulting speed characteristic corresponds to a sine² curve. 

variable 

The acceleration/braking ramps can be adjusted (in preparation). 


Setting 

The setting for the rate-of change limiting of the acceleration/braking ramps: 

t_acc_total 

Display of the total acceleration time 

t_dec_total 

Display of the total deceleration (braking) time 

T1 

Rate-of-change limiting of the acceleration ramp, maximum is half the acceleration time 

T2 

Rate-of-change limiting of the deceleration ramp, maximum is half the deceleration time 



Next Motion Task 


Next motion task 

Select whether a new motion task should be started automatically, after the present task is finished. 

The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos" to generate a signal at one of the digital outputs when each target position within a sequence of motion tasks has been reached.
 

Next number 

The number of the next task, which will be started automatically after the present task is finished.
 

Accel./decel. 

Select the action to be taken when the target position for the present motion task is reached. 

on v_act=0 

The drive brakes to a stop in the target position. The next motion task is then started. 

from target 

The drive moves at v_cmd of the present motion task to the target position, and then accelerates through to v_cmd of the next task 

to target 

The changeover to the next task is brought so far forwards, that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached. 


Start condition 

immediately 

The next task is started as soon as the target position is reached. 

I/O 

The next task is started by a signal at a digital input (one of the terminals X3/11...14).
This is only meaningful with "Accel./Decel to v=0". 

Condition: the digital input must have the function "15, Start_MT Next" assigned, and the target position must have been reached. 

You can preselect the logic with the "Start with" parameter 

Time 

The next task is started with a defined delay after the target position has been reached. You can enter the delay time with the "Delay time" parameter.
This is only meaningful with "Accel./Decel to v=0". 

I/O or Time 

The next task is started by a signal at a digital input (one of the terminals X3/11...14) or after a defined delay.
This is only meaningful with "Accel./Decel to v=0".
The trigger is the event that occurs first (the start signal or the end of the delay time) Condition: the digital input must have the function "15, Start_MT Next"  assigned, and the target position must have been reached.
You can preselect the logic with the "Start with" parameter, and enter the delay time with the "Delay time" parameter. 


Start by I/O edge 

The logic for the digital input that has the function "15, Start_MT Next" assigned to it. 

LOW-level:        0 ... 7 V 

HIGH-level:        12 ...3 0 V / 7 mA
 

Delay time 

The entry (in ms) for the delay time between reaching the target position and starting the next task. 

Type Delay 

Next number 

The number of the next task, which will be started automatically after the present task is finished.
 

Delay time 

The entry (in ms) for the delay time between reaching the target position and starting the next task. 


Type Comparison tests 

Parameter 

Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet protocol.
 

Test 

Operator for the comparison test 

= 

The parameter value must be equivalent to the test value 

> 

 The parameter value must be larger than the test value 

< 

The parameter value must be smaller than the test value 

>= 

The parameter value must not be smaller than the test value 

<= 

 The parameter value must not be larger than the test value 

<> 

The parameter value must not be equivalent to the test value 


Value 

value, with which the parameter value is to be compared
 

Bit Test 

Selection of a special bit, if not the whole parameter is to be compared.
 

Nest task if FALSE 

number of next motion task if the result of the comparison is FALSE
 

Nest task if TRUE 

number of next motion task if the result of the comparison is TRUE
 

Test Type 

Branch imm. 

Comparison will be carried out immediately and only one time. 

wait until TRUE 

Comparison will be carried out repeatedly until the result is TRUE 

branch FALSE on Timeout 

Comparison will be carried out repeatedly until the result is TRUE or  timeout runs off 

Fault on Timeout 

if the result is not TRUE until timeout expired, an error message will be generated 


Timeout 

Waiting period for kinds of test “branch FALSE on Timeout” and “Fault on Timeout” in milliseconds. 


Type Modify parameter 

Parameter 

Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet protocol.
 

Value 

Value, which is to be assigned to the parameter
 

Next Motion Task 


Next motion task 

Select whether a new motion task should be started automatically, after the present task is finished. 

The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos" to generate a signal at one of the digital outputs when each target position within a sequence of motion tasks has been reached.
 

Next number 

The number of the next task, which will be started automatically after the present task is finished.
 

Accel./decel. 

Select the action to be taken when the target position for the present motion task is reached. 

on v_act=0 

The drive brakes to a stop in the target position. The next motion task is then started. 

from target 

The drive moves at v_cmd of the present motion task to the target position, and then accelerates through to v_cmd of the next task 

to target 

The changeover to the next task is brought so far forwards, that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached. 


Start condition 

immediately 

The next task is started as soon as the target position is reached. 

I/O 

The next task is started by a signal at a digital input (one of the terminals X3/11...14).
This is only meaningful with "Accel./Decel to v=0". 

Condition: the digital input must have the function "15, Start_MT Next" assigned, and the target position must have been reached. 

You can preselect the logic with the "Start with" parameter 

Time 

The next task is started with a defined delay after the target position has been reached. You can enter the delay time with the "Delay time" parameter.
This is only meaningful with "Accel./Decel to v=0". 

I/O or Time 

The next task is started by a signal at a digital input (one of the terminals X3/11...14) or after a defined delay.
This is only meaningful with "Accel./Decel to v=0".
The trigger is the event that occurs first (the start signal or the end of the delay time) Condition: the digital input must have the function "15, Start_MT Next"  assigned, and the target position must have been reached.
You can preselect the logic with the "Start with" parameter, and enter the delay time with the "Delay time" parameter. 


Start by I/O edge 

The logic for the digital input that has the function "15, Start_MT Next" assigned to it. 

LOW-level:        0 ... 7 V 

HIGH-level:        12 ...30 V / 7 mA
 

Delay time 

The entry (in ms) for the delay time between reaching the target position and starting the next task. 


Type Initialize loop 

initial value 

Number of counting steps of the loop
 

Next task 

Number of the motion task, which is to be processed after setting the counter  

Type Decrement counter 

Next Motion Task 


Next motion task 

Select whether a new motion task should be started automatically, after the present task is finished. 

The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos" to generate a signal at one of the digital outputs when each target position within a sequence of motion tasks has been reached.
 

Next number 

The number of the next task, which will be started automatically after the present task is finished.
 

Accel./decel. 

Select the action to be taken when the target position for the present motion task is reached. 

on v_act=0 

The drive brakes to a stop in the target position. The next motion task is then started. 

from target 

The drive moves at v_cmd of the present motion task to the target position, and then accelerates through to v_cmd of the next task 

to target 

The changeover to the next task is brought so far forwards, that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached. 


Start condition 

immediately 

The next task is started as soon as the target position is reached. 

I/O 

The next task is started by a signal at a digital input (one of the terminals X3/11...14).
This is only meaningful with "Accel./Decel to v=0". 

Condition: the digital input must have the function "15, Start_MT Next" assigned, and the target position must have been reached. 

You can preselect the logic with the "Start with" parameter 

Time 

The next task is started with a defined delay after the target position has been reached. You can enter the delay time with the "Delay time" parameter.
This is only meaningful with "Accel./Decel to v=0". 

I/O or Time 

The next task is started by a signal at a digital input (one of the terminals X3/11...14) or after a defined delay.
This is only meaningful with "Accel./Decel to v=0".
The trigger is the event that occurs first (the start signal or the end of the delay time) Condition: the digital input must have the function "15, Start_MT Next"  assigned, and the target position must have been reached.
You can preselect the logic with the "Start with" parameter, and enter the delay time with the "Delay time" parameter. 


Start by I/O edge 

The logic for the digital input that has the function "15, Start_MT Next" assigned to it. 

LOW-level:        0 ... 7 V 

HIGH-level:        12 ...30 V / 7 mA
 

Delay time 

The entry (in ms) for the delay time between reaching the target position and starting the next task. 


Type Loop 

if counter <> 0 

Number of the motion task, which is to be processed if the counter is larger or smaller than zero
 

If counter = 0 

Number of the motion task, which is to be processed if the counter equals zero 

Type Jog 

Velocity 

velocity in counts/sec for constant velocity mode 

Type go to Home / Index / Registration + Offset 

Reference 

Home 

reference point set by the user 

Index 

reference points defined via DeviceNet 

Registration 


Offset 

Offset from the reference point
 

Units 

units for offset 

Counts 

Offset in counts 

SI 

Offset in SI units, unit is given by PUNIT 


v_cmd source 

Source for the speed setpoint 

digital 

v_cmd as speed setpoint 

analog (SW1) 

speed setpoint from analog input 1 


v_cmd 

speed setpoint in counts / 250 µsec for v_cmd source = digital
 

Acceleration/Deceleration 


Units (acceleration) 

ASCII: ACCUNIT 

Default: 0 

valid for all OPMODES 

Select the unit for acceleration and ramp entries.
 

t_acc_total 

This parameter determines the acceleration time to v_cmd.
 

t_dec_total 

This parameter determines the deceleration (braking) time from v_cmd to zero.
 

Ramp 

Determines which type of acceleration/braking ramp should be used to carry out a motion task. 

Trapeze 

The drive is given a constant linear acceleration/deceleration to the target speed 

Sine² 

To limit any jolting, the drive is accelerated/decelerated within the acceleration time along an acceleration ramp without any discontinuities. The resulting speed characteristic corresponds to a sine² curve. 

variable 

The acceleration/braking ramps can be adjusted (in preparation). 


Setting 

The setting for the rate-of change limiting of the acceleration/braking ramps: 

t_acc_total 

Display of the total acceleration time 

t_dec_total 

Display of the total deceleration (braking) time 

T1 

Rate-of-change limiting of the acceleration ramp, maximum is half the acceleration time 

T2 

Rate-of-change limiting of the deceleration ramp, maximum is half the deceleration time 



Next Motion Task 


Next motion task 

Select whether a new motion task should be started automatically, after the present task is finished. 

The InPosition signal is only enabled when the last motion task (no further task) has been processed. You can use the function "16, Next-InPos" to generate a signal at one of the digital outputs when each target position within a sequence of motion tasks has been reached.
 

Next number 

The number of the next task, which will be started automatically after the present task is finished.
 

Accel./decel. 

Select the action to be taken when the target position for the present motion task is reached. 

on v_act=0 

The drive brakes to a stop in the target position. The next motion task is then started. 

from target 

The drive moves at v_cmd of the present motion task to the target position, and then accelerates through to v_cmd of the next task 

to target 

The changeover to the next task is brought so far forwards, that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached. 


Start condition 

immediately 

The next task is started as soon as the target position is reached. 

I/O 

The next task is started by a signal at a digital input (one of the terminals X3/11...14).
This is only meaningful with "Accel./Decel to v=0". 

Condition: the digital input must have the function "15, Start_MT Next" assigned, and the target position must have been reached. 

You can preselect the logic with the "Start with" parameter 

Time 

The next task is started with a defined delay after the target position has been reached. You can enter the delay time with the "Delay time" parameter.
This is only meaningful with "Accel./Decel to v=0". 

I/O or Time 

The next task is started by a signal at a digital input (one of the terminals X3/11...14) or after a defined delay.
This is only meaningful with "Accel./Decel to v=0".
The trigger is the event that occurs first (the start signal or the end of the delay time) Condition: the digital input must have the function "15, Start_MT Next"  assigned, and the target position must have been reached.
You can preselect the logic with the "Start with" parameter, and enter the delay time with the "Delay time" parameter. 


Start by I/O edge 

The logic for the digital input that has the function "15, Start_MT Next" assigned to it. 

LOW-level:        0 ... 7 V 

HIGH-level:        12 ...3 0 V / 7 mA
 

Delay time 

The entry (in ms) for the delay time between reaching the target position and starting the next task.