5.2.4
Position controller parameters
5.2.4.1
PNU 1250: velocity multiplier
This parameter is used to enter a multiplier for the jogging/homing velocity. The velocity for jog-
ging/homing is given through PZD2 in the control word when jogging/homing is started.
The actual jog velocity is calculated according to the following formula:
V
Bit
V
Bit
multiplier
Bit
Jog vel
Jog PZD
,
.
,
(
)
(
)
(
32
16
16
2
=
´
)
The defaultvalue is 1.
5.2.4.2
PNU 1251: axis type
This parameter is used to define to which type the axis belongs. If a 0 is given as the parameter
value, it is a linear axis. 1 means a rotary axis.
5.2.5
Position data for the position-control mode
5.2.5.1
PNU 1300: position
Since the PMCtendo DD4 calculates all positioning operations internally only on an incremental
basis, there are limitations on the usable range of values for distances that are
given in SI units.
The range for the incremental position covers the values from -2
31
to (2
31
-1).
The resolution that is determined by the PGEARO (PNU1258) and PGEARI (PNU1259) parameters
and the variable PRBASE fix the sensibly usable range for positioning operations.
The variable PRBASE determines, through the equation
n
PRBASE
=
2
, the number of increments per
motor turn. The value of PRBASE can only be 16 or 20.
PGEARO contains the number of increments that must be traversed when the distance to be
moved is PGEARI. The default values for PGEARO correspond to one turn.
The number of turns that can be covered are given as follows:
-2048..+2047 for PRBASE=16 and -32768..+32767 for PRBASE=20
The sensibly usable position range is derived as follows:
-
-
2
2
1
31
31
*
...(
) *
PGEARI
PGEARO
PGEARI
PGEARO
for PGEARI <= PGEARO or
-
-
2
2
1
31
31
...(
)
for PGEARI > PGEARO
5.2.5.2
PNU 1301: velocity
The usable range for the velocity is not limited by the available data area. It is limited by the maxi-
mum applicable speed nmax, which is given by the speed parameter VLIM as the final limit speed
for the motor.
The maximum velocity is thus given by:
n
SI
PRBASE
n
PGEARI
PGEARO
, max
max
=
´
´
2
with n
max
in turns/second
or, in incremental units, as:
v
n
s
sec
n
incr
PRBASE
PRBASE
. max.
max
max
=
´
´
=
´
2
250
1
4000
2
m
with n
max
in turns/second
User manual PROFIBUS DP PMCtendo DD4
Page 27
5 Using the parameter channel
