Danaher Motion 06/2005 Table of Contents
M-SS-005-03 Rev E iii
3.6.4. STARTING POSITION ......................................................................................... 63
3.6.5. BASIC MOVES AUTO SETUP PROGRAM.......................................................... 63
3.6.6. USER UNITS...................................................................................................... 64
3.6.7. POSITION UNITS ............................................................................................... 64
3.6.8. VELOCITY UNITS.............................................................................................. 65
3.6.9. ACCELERATION UNITS ..................................................................................... 65
3.6.10. JERK UNITS....................................................................................................... 66
3. 7 ACCELERATION PROFILE ............................................................................................. 66
3. 8 POSITION AND VELOCITY ............................................................................................. 67
3. 9 LIMITS ............................................................................................................................... 69
3.9.1. POSITION LIMITS .............................................................................................. 70
3.9.2. AXIS VELOCITY LIMITS.................................................................................... 73
3. 10 VELOCITY, ACCELERATION AND JERK RATE PARAMETERS .................................. 73
3. 11 VERIFY SETTINGS............................................................................................................ 74
3.11.1. ENABLING......................................................................................................... 74
3.11.2. MOTION FLAGS ................................................................................................ 74
3.11.3. MOVE................................................................................................................ 74
3. 12 SERCOS ............................................................................................................................. 75
3.12.1. COMMUNICATION PHASES ............................................................................... 76
3.12.2. TELEGRAMS...................................................................................................... 76
3.12.3. TELEGRAM TYPES ............................................................................................ 77
3.12.4. CYCLIC VS. NON-CYCLIC COMMUNICATION................................................... 78
3.12.5. IDNS................................................................................................................. 78
3.12.6. POSITION AND VELOCITY COMMANDS............................................................ 79
3.12.7. SERCOS SUPPORT........................................................................................... 79
3. 13 LOOPS ............................................................................................................................... 81
3.13.1. STANDARD POSITION LOOP.............................................................................. 82
3.13.2. DUAL-FEEDBACK POSITION LOOP ................................................................... 82
3.13.3. VELOCITY LOOP............................................................................................... 83
3. 14 SIMULATED AXES............................................................................................................ 83
4. SINGLE-AXIS MOTION......................................................................................................... 85
4. 1 MOTION GENERATOR .................................................................................................... 85
4.1.1. MOTION CONDITIONS....................................................................................... 85
4.1.2. MOTION BUFFERING......................................................................................... 87
4.1.3. OVERRIDE VERSUS PERMANENT ...................................................................... 87
4.1.4. ACCELERATION PROFILE.................................................................................. 88
4.1.5. JOG.................................................................................................................... 88
4.1.6. STOP ................................................................................................................. 89
4.1.7. PROCEED........................................................................................................... 89
