Technical data

Technology functions
CPU 317T: Technology Functions
A5E00251798-03
6-93
Dynamic parameter Velocity
Warning
The start value of the velocity ramp is set to 0.0 for reasons of safety. This value is
not permitted in actual fact, and will lead to an error. Define a useful value.
MC_MoveToEndPos - Example
a ) An axis approaches the fixed end stop with reduced torque. To hold the drive at
this torque, a following error is formed, based on position setpoint > actual
position value.
b) The clamping torque is doubled when a new command is received to move the
axis in the same direction.
c) To terminate clamping mode, an "MC_MoveRelative" command is output to start
the drive in reversed direction. Clamping is terminated after the position setpoint
is outside of clamping tolerance window.