Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) - Manual (Page 393)

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Firmware 1.37 - 09/2006 393
9400 HighLine | Parameter setting & configuration
TAs for positioning tasks
TA "Multi-purpose positioning" | Profile data management
13.2.5.2 Variable tables
To simplify parameter handling, the four most important physical sizes for profile
parameters are stored in separate "variable tables".
[13-9] Principle: References to variable tables (here: References to VTSPEED)
r In case of several references to the same table position, a change of the value in this
table position affects several profiles at the same time. Thus, recurring profile
parameters only need to be changed on one position.
VTPos
Positions
VTSpeed
Speeds
VTAcc
Acceleration/
deceleration
VTJerk
S-ramp times
Unit Unit Unit/s Unit/s 2 s
Data format DINT with four decimal positions
Memory locations 100 50 50 50
Code C04711/1...100 C04712/1...50 C04713/1...50 C04714/1...50
For profile
parameters
Target position
TP window starting position
TP window end position
Speed
Final speed
Acceleration
Deceleration
S-ramp time
Note!
A value is assigned to a profile parameter by referring to a table position of the
assigned variable table.
• Hence, not the value itself is entered into the profile parameter but the index
of the table position which contains the value to be used.
• See the example in the illustration [13-9] .
(C 393)
Position
Speed
Mode
Profile 1
3
1
1
2
1
50
6
7
12
2
Deceleration
Jerk time
Acceleration
End speed
TP window start position
TP window end position
Next TP profile
Next profile
3
Position
Speed
Mode
Profile 2
4
2
1
3
1
50
6
8
13
5
Deceleration
Jerk time
Acceleration
End speed
TP window start position
TP window end position
Next TP profile
Next profile
4
2
1
VTPOS
...
100
2
1
VTSPEED
200 [unit]/s
400 [unit]/s
50 [unit]/s
...
50
2
1
VTACC
...
50
2
1
VTJERK
...
50
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS