The transfer path from the motor to the mechanism may elastisc and so susceptible to oscillation. For that reason, it is advisable to also limit the maximum rate of change of the torque and thus the jerk. Due to the jerk limitation the acceleration and deceleration times rise by the smoothing P 0166 MPRO_REF_JTIME. The smoothing setting box appears on-screen as soon as the profile type P 2243 "MPRO_402_MotionProf type" is set to JerkLin(3).
With speed override P 0167 MPRO_REF_OVR the maximum preset speed reference is scaled in percent.
Bild: Profile type, smoothing profile type without smoothing
The acceleration and braking ramp = 0, so the jerk is maximum (red curve).
Bild: Maximum jerk: Red = actual speed; grey = actual position
The acceleration and braking ramp with preset smoothing time
(smoothing time = 2000 ms, red curve)
Bild: Ramps with smoothing: Red = actual speed; grey = actual position
Parameters
| P.no. |
Parameter name/ Settings |
Function |
|---|---|---|
| P 0166 | MPRO_REF_JTIME | Setting of smoothing time (jerk limitation) |
| P 0167 | MPRO_REF_OVR | The reference is weighted in percent dependent on the maximum specified reference value |
| P2243 | MPRO_402_MotionProfType | The smoothing time is only selectable when the parameter is set to Jerklim(3). |
Tabelle: Parameters for setting jerk conditions
Copyright © LTi DRiVES GmbH, Januar 2013, ID-Nr.: 0842.26B.1-00 DE