Travel Profile Details - Ramps
The Drive has 4 programmable ramps that can be set to define the acceleration, deceleration and stopping times.
The total ramp times can be calculated with the following equation / formula:
(Ramp + ((Start Jerk + End Jerk) / 2)
Using the above formula to calculate the time for the acceleration ramp:
(P8-03 + ((9-01 + P9-02) / 2)
Ramps - Active Conditions
This section covers when each of the 3 ramps will be active. This can be used to help with the settings of the ramp times.
Ramp | Active | Definition |
|---|---|---|
P8-03 - Acceleration Ramp Time | During Acceleration | Active once the starting conditions have been fulfilled and the drive starts to accelerate from zero to the target speed reference. |
After Smooth Start | If the Smooth Start Function is active once the time in P9-08 has finished meaning the Smooth Start Function is no longer active, the Drive will accelerate to the target speed reference using this ramp. | |
P8-04 - Deceleration Ramp Time | During Deceleration | Active once a speed reference is given that is Less than the current speed reference but Greater than zero. This ramp is used to decelerate from High Speed to Levelling Speed |
P9-06 - Stopping Ramp Time | During Deceleration to Stop | Active once the stopping conditions are fulfilled, the Drive decelerates to zero speed to begin the stopping sequence. |
During Deceleration to Zero | Active if a zero speed reference is given, the drive decelerates to zero speed. NoteThis may not be the command to start the stopping sequence depending on the setting of P8-13. | |
P9-10 - Smooth Start Ramp Time | When Smooth Start is Active | When Smooth Start is active this is the ramp time that is used when accelerating to the Smooth Start Speed in P9-09. |
The image below shows the standard travel curve for a creep to floor profile with the position of the three available ramps and where they are active.
This section specifies the 4 available ramps and their associated parameters.
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P8-03 | Acceleration ramp time | sec | 2.00s | 0.00 ... 600.00s | RW | Y | 1 = 0.1s | 2 | 2323h | 0 | 803 |
P8-04 | Deceleration ramp time | sec | 2.00s | 0.00 ... 600.00s | RW | Y | 1 = 0.1s | 2 | 2324h | 0 | 804 |
P9-06 | Stopping Ramp Time | sec | 1.0s | 0.0 ... 600.0s | RW | Y | 1 = 0.01s | 2 | 238Ah | 0 | 906 |
P9-10 | Smooth Start Ramp Time | sec | 0.50s | 0.00 ... 600.00s | RW | Y | 1 = 0.01s | 2 | 238Eh | 0 | 910 |
Note
For more information on the Smooth Start function see the Smooth Start Section.
Ramp used when accelerating to a speed from start.
The Jerks used during this are P9-01 and P9-02.
Ramp used when decelerating to a speed reference >0.
Defines the time to decelerate from a speed reference to zero, when a stop command is given. Used in conjunction with the setting of P8-13 which defines the stop command.
Sets the ramp time to reach the target speed set in P9-09.