ElmoMC SimplIQ Software Manual - Manual (Page 134)

SimplIQ Software Manual Unit Modes
MAN-SIMSW (Ver. 1.4)
10-4
1. Has any new BG command been accepted by the software or hardware? If yes,
update the speed target to the value of JV, and also update the permitted
acceleration and deceleration to the values of AC and DC.
2. If the speed target and speed command are positive, and the speed target is greater
than the speed command, select AC for the acceleration limit. If the speed target and
speed command are negative, and the speed target is less than the speed command,
also select AC. Otherwise, select DC for the acceleration limit.
3. Advance the speed command towards the speed target as much as the selected
acceleration/deceleration permits. In a trivial case, in which the speed command
already equals the speed target, do nothing.
The acceleration-limited software speed command is fed to a smoothing filter, which
limits the rate of development towards the full acceleration or deceleration.
Example 1:
In order to demonstrate the concepts of target speed and the speed command — along
with AC and DC acceleration/deceleration limits — let:
MO=1; JV=4000; AC=100,000; DC=200,000; SD=106; PM=1; RM=0; SF=0; BG;
The following figure depicts how the speed command to the controller (DV[2]) tracks the
target speed specified by changing the JV parameter, followed by a BG.
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
-1000
-500
0
500
1000
JV
DV [2]
A C
DC
A C
Figure 10-3: Speed Profiling Using JV, AC and DC
The speed reference to the controller may be changed any time, regardless of the
state of the profiler. In the previous figure, the required speed was changed at time
0.065, from -1000 to 0, before reaching the speed command of -1000.