User`s manual

DS2100 User's Manual APPENDIX B: GUI
PAGE 32
B.3.16.22 DS402 Profile Position Mode
In this mode, a target position is input to a profile generator. It generates a position demand profile for the
position control loops, with further inputs to the profile generator shaping is output.
INPUT PARAMETERS → Allows the user to setup the input parameters of profile position mode. The
parameters are:
• Target Position → Input to profile generator in position units.
• SW. Range Limit Min/Max → Range limiting on demand, in position units. The extreme fixed
values are –2^31 and 2^31 –1.
• SW. Position Limit Min/Max→ Limit on demand in position units, relative to home position.
The extreme fixed values are –2^31 and 2^31-1.
• Profile Velocity → Used to define acceleration of moves, in acceleration units.
• Max Profile Velocity→ Max speed allowed during a profile move, in velocity units. This value
is limited to the lower value of the following 2 parameters (Max Load Speed and Max Motor
Speed)
• Max Load Speed → Maximum speed of the system, used in the velocity loop.
• Max Motor Speed→ Maximum allowable speed of motor, in rpm.
• Profile Acceleration → Used to define acceleration of moves, in acceleration units.
• Max Acceleration → Used to limit the profile acceleration, in acceleration units.
• Position Window → The Delta between target and actual position, if less than or equal to this
window, (in position units) it will set the target reached bit in the status word.
• Following Error Window → Allows the user to set the size of the window for the position
following error. If the following error is outside this window then a position following error will
be flagged.
• Home offset → This shows the offset measured in the homing mode. The user can also set it
without performing a homing sequence if required.
• Motion Profile Type → This indicates the type of profile used. Only a ‘linear ramp’ type is
available currently.