Lenze EtherCAT control technology - Manual (Page 63)

DMS 3.1 EN 01/2011 TD17
L
63
Control technology | EtherCAT communication manual
Commissioning of the system
Detailed commissioning steps
7.2.7.4 Set SoftMotion parameters.
The settings depend on the application:
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Note!
The SoftMotion Drive: Basic tab is only available for Lenze EtherCAT slaves using
the CiA402 application (SM_Drives).
Input fields Function/description
Axis type and limits
• Virtual mode
Activate virtual mode for the configuration to be selected.
• Rotary Select configuration for rotary axis.
• Linear Select configuration for linear axis.
Modulo settings (only for rotary operation)
• Modulo value
Define SoftMotion units for rotary operation.
(With the value 360.0, the drive would carry out exactly one mechanical
revolution.)
Software limits (only for linear operation)
• Activated
Activate software limit switches.
• Negative Define value for negative software limit switch.
• Positive Define value for positive software limit switch.
Limits for CNC (limits are only effective for CNC operation.)
• Velocity
Define maximum (setpoint) velocity of the axis.
• Acceleration Define maximum acceleration.
• Deceleration Define maximum deceleration.
Velocity ramp type
• Trapezoid
Trapezium
• sin 2 Sine curve
• Parabolic Parabola
• Jerk Value for jerk (only for the ramp types "sin 2 " and "parabolic")
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A detailed description of the velocity ramp types can be found in the
documentation/online help for the »PLC Designer« (SoftMotion).