Lenze E94A - Manual (Page 411)

Lenze · 9400 function library · Reference manual · DMS 6.7 EN · 08/2014 · TD05
411
5 Function blocks
5.111 L_PosPositionerTable - profile data record management
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5.111.4 Positioning with final speed
If a positioning process with a final speed other than zero is carried out, a velocity changeover / over-
change can be realised, i.e. a second positioning process is started immediately once the target po-
sition is reached, and the drive does not come to a standstill at the first target position.
[5-68] The principle of velocity changeover / overchange
• Normally, the drive has reached the final speed when the target position is reached.
• The profile is run through which is defined via "Profile data sequence profile without TP".
• The final speed must not exceed the maximum profile speed.
• The speed is internally limited to the profile speed.
• This is the maximum value for the final speed if the profile speed is reduced via override. (This
behaviour may add to the cases described in the note below.)
• The speed limitation is not affected by subsequent increases in the override value.
 Target position
 Final speed (in our example: other than zero)
Œ

v
pos
v
end
v [m/s]
t [s]

Note!
Positioning processes with final speeds other than zero do not permit reversing. In this
case, the positioning process is aborted and an error is issued.
In the case of positioning processes with final speeds and if S-shaped ramps are used, a
plausibility check as to whether the final speed can be reached is carried out when the
profile is started. If the final speed cannot be reached, the positioning process is aborted
and an error is issued. This is often the case if the positioning process has been paused
and is then to be continued.