Lenze E94AxPExxxx - Manual (Page 422)

12 Basic drive functions
12.1 General information
422
Lenze · 9400 Servo PLC· Reference manual · DMS 4.0 EN · 11/2013 · TD05/06
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
12.1.7 Setting the S-ramp time
For path planning, various basic functions serve to build up or reduce the acceleration linearly. The
motion profile causes less structural vibrations and the gearboxes are protected.
The smoothening (jerk) is calculated via the S-ramp time and the maximum acceleration permitted
in the profile:
[12-3] Formula for calculating the jerk for acceleration and deceleration phases
S-ramp times can be set in the given parameters for the following basic functions:
Jerk
maximum acceleration
S-ramp time
------------------------------------------------------------ =
Basic function Parameter for S-ramp time
Stop C02611
Quick stop C00106
Manual jog C02624
Homing C02648
Positioning The S-ramp time is defined via FB L_PosPositionerTable or FB L_PosProfileTable.

Stop!
When it is switched to another basic function, the start acceleration is reduced with the
jerk of the new basic function. A small jerk causes very high speeds!
Remedy: Avoid unnecessarily long S-ramp times. Set the profile parameters of the
different basic functions so that the jerk is roughly the same for all basic functions.