BECKHOFF EL7037 - Manual (Page 153)

Commissioning
Examples of two travel commands with a dynamic change of the target position
Without overrun of the target position
Time POS Outputs POS Inputs Description
t1: Execute = 1
Target position = 200000
Velocity = 2000
Start type = 0x0001
Acceleration = 1000
Deceleration = 1000 Busy = 1
Accelerate = 1 - Specification of the first parameter
- Start of the acceleration phase
t2: Accelerate = 0 - End of the acceleration phase
t3: Target position = 100000
Velocity = 1500
Start type = 0x1001
Acceleration = 2000
Deceleration = 2000 - Change of the parameters
- Activation by new start types
t4: Decelerate = 1 - Start of the deceleration phase
t5: Execute = 0 Busy = 0
In-Target = 1
Decelerate = 0 - End of the deceleration phase
- Motor is at the new target position
t6 - t9: - Absolute travel back to the start position
0
Fig. 174: Scope recording of a travel command with a dynamic change of the target position, without over-
running the target position
(The axis scaling refers only to the positions, not to the speed or the status bits)
EL70x7 153 Version 1.0