BECKHOFF EL7037 - Manual (Page 154)

Commissioning
With overrun of the target position
Time POS Outputs POS Inputs Description
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
Fig. 175: Scope recording of a travel command with a dynamic change of the target position, with overrun-
ning of the final target position
(The axis scaling refers only to the positions, not to the speed or the status bits)
EL70x7 154 Version 1.0