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Position control in PG mode

Profile Generator (PG) mode

Positioning commands are transmitted to the internal profile generator (subject area motion profile "Basic setting").
It is composed of the following items:

• Target position
• Maximum process speed
• Maximum acceleration
• Maximum deceleration
• With the values for jerk P 0166 MPRO_REF_JTIME and an override factor P 0167 MPRO_REF_OVR for the positioning speed, the profile generator generates a time-optimized trajectory for the position reference, taking into account all limitations.
• The position references are then processed with the selected interpolation method.
• The position references are used to generate pre-control values for speed and acceleration. These are scanned at the sampling time of the position controller (normally 125 µs) and switched to the control loops.
  
  
  

Motion profile / Basic settings

In this dialog box the basic settings for the motion profile are made according to the list boxes. If Profile Generator and IP mode are enabled, the reference value is influenced by both functions.

Bild: Profile mode position control