Profile generator

Basic principle¶

It allows easy positioning from point to point and speed control of the actuator. The output of the generator is a 64-bit position variable, which consists of two 32-bit variables APosAngle and APosRevol, as well as a variable ASpeed determining the current speed setpoint. The parameters of the generator are Acc and Dec, which determine the acceleration resp. deceleration of the drive, the Type parameter determines the course of speed during acceleration and deceleration (see diagram below). Another parameter is PosSpeed, which determines the maximum speed during positioning, the DPosAngle and DposRevol parameters determine the target position and the Speed parameter determines the speed setpoint. The variables Mode and Rdy are used to control the generator itself. The Mode variable specifies the PG mode (value 0 indicates the speed mode, value 1 indicates the position mode). If the positioning is successfully completed and the output position is the same as the setpoint, then this state is signaled by the value of the variable Rdy = 1. The generator works by calculating the current APosAngle and APosRevol position setpoint and the current ASpeed speed setpoint in each period based on the parameters (Acc, Dec, Type, PosSpeed, DPosAngle, and DPosRevol) and the status of the Mode and Speed variables. The calculation of the generator is performed with the internal resolution given by the BitsPerRevol parameter. This parameter then specifies the internal number of increments per revolution.

(a) position mode
(b) speed mode
(c) type of ascending and descending ramps

The following parameters work with this resolution:

Parameter	Unit
Acc, Dec	[Inc/s²]
ASpeed, DSpeed, Speed	[Inc/s]

The position parameters are 64-bit and consist of two 32-bit registers:

The Angle register indicates the position within one revolution with a resolution of 32 bits
The Revol register is an extension of 32 bits (number of whole revolutions):
- DPosRevol, DPosAngle
- APosRevol, APosAngle

These built-in functions can be used in the user program to simplify work with the profile generator:

Relative positioning - this is a position transition: int PosRel(int axis, int Acc, int Dec, int Speed, long long Pos, int AddGear);
Absolute positioning - this is the approach to the absolute position: int PosAbs(int axis, int Acc, int Dec, int Speed, long long Pos, int AddGear);
Speed crossing - the drive spins at a given speed. int RunSpeed(int axis, int Acc, int Speed, int AddGear);

Description of parameters: axis - 0 - axis 1, 1 - axis 2 Acc,Dec - in the same sense as the PG parameters described above Speed - Maximum position crossing speed or speed crossing speed AddGear - not implemented yet (will determine cooperation with the Gear module)

Examples of motor control via Profile Generator¶

The following tables provide examples of using a generator profile that is set to different motor control modes. The Basic Groups column lists the page name. Switching between individual pages is allowed in the upper left corner of the TGZ graphical user interface.

Note

In the first step, it is important to set / load the correct drive parameters. Uploading parameters is possible using the blue envelope in the upper right corner (LOAD PARAMETERS FROM FILE), see TGZ GUI Manual

Motor position control via TGZ GUI¶

Step	Basicgroups	Parametr	Value ¹	Desription
1	-	-	-	Loaddrive parameters.
2	Drive	D-mode	7	Profilegenerator - position mode.
3	Command	K-Command	1	SW enable. It can also be turned on using the enable button for the respective axis on the bottom bar. The motor generates torque.
4	PG	Acc	5 000 000¹	[inc/s²] Required acceleration.
5	PG	Dec	5 000 000¹	[inc/s²] Desired deceleration.
6	PG	PosSpeed	1 000 000¹	[inc/s] Desired speed of movement in position mode.
7	PG	Mode	1	Position mode.
8	PG	Type	1	Required ramp type.
9	PG	DPosAngle	0	[inc] Desired position within one revolution. After entering the value and pressing the Enter key, the motor rotates to the desired position.
10	PG	DPosRevol	20¹	[inc] Desired position within the multi-turn range. After entering the value and pressing the Enter key, the motor rotates to the desired position.

Motor position control via UDP¶

D-mode
Description: Servo amplifier mode setting: Profile Generator - position mode.

Telegram: Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x03	0x03	0x07	0x00	0x00	0x00

Telegram: Response
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	(Byte 6, 10 = 0 : no error)
0x47	0x54	0x02	0x03	0x03	0x00

PG – Acc, Dec, PosSpeed, Type, Mode, DPosAngle, DPosRevol
Description: Setting of required acceleration, deceleration, ramp type (see fig.), Generator Profile mode and zero position setpoint (initial state).

Telegram:

Request

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

0x47

0x54

0x04

0x19

0x00

0x02

0x40

0x4B

0x4C

Byte 9

Byte 10

Byte 11

Byte 12

Byte 13

Byte 14

Byte 15

Byte 16

Byte 17

0x00

0x40

0x4B

0x4C

0x00

0x02

0x19

0x07

0x40

Byte 18

Byte 19

Byte 20

Byte 21

Byte 22

Byte 23

Byte 24

Byte 25

Byte 26

0x42

0x0F

0x00

0x02

0x19

0x0B

0x01

0x00

Byte 27

Byte 28

Byte 29

Byte 30

Byte 31

Byte 32

Byte 33

Byte 34

Byte 35

0x00

0x02

0x19

0x09

0x01

0x00

0x04

Byte 36

Byte 37

Byte 38

Byte 39

Byte 40

Byte 41

Byte 42

Byte 43

Byte 44

0x19

0x04

0x02

0x00

Byte 45

Byte 46

0x00

Telegram:

Response

(Byte 6, 10 = 0 : no Error)

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

0x47

0x54

0x04

0x19

0x00

0x02

0x02

0x19

Byte 9

Byte 10

Byte 11

Byte 12

Byte 13

Byte 14

Byte 15

Byte 16

Byte 17

0x07

0x00

0x02

0x19

0x0B

0x00

0x02

0x19

0x09

Byte 18

Byte 19

Byte 20

Byte 21

Byte 22

Byte 23

0x00

0x04

0x19

0x04

0x00

0x02

K – Command
Description: SW enable. After entering this command, the motor is under torque and rotates to the desired position from the previous request.

Telegram:

Request

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

0x47

0x54

0x02

0x11

0x00

0x01

0x00

Telegram:

Response

(Byte 6, 10 = 0 : no Error)

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

0x47

0x54

0x02

0x11

0x00

Motor speed control via TGZ GUI¶

Step	Basic groups	Parameter	Value	Description
1	-	-	-	Load drive parameters.
2	Drive	D-mode	7	Profile generator - position mode.
3	Command	K-Command	1	SW permission. It can also be turned on using the activation button on the bottom bar. The motor generates torque.
4	PG	Acc	5 000 000¹	[inc / s²] Required acceleration.
5	PG	Dec	5 000 000¹	[inc / s²] Desired acceleration required.
6	PG	Mode	0	Speed mode.
7	PG	Type	1	Required ramp type.
8	PG	PosSpeed	±1 000 000¹	[inc / s] Desired speed of movement in position mode. After entering the value and pressing the Enter key, the motor will rotate at the desired speed.

Motor speed control via UDP¶

D-Mode
Description: Servo amplifier mode setting: Profile Generator - position mode.

Telegram:		Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x03	0x03	0x07	0x00	0x00	0x00

Telegram:		Response	(Byte 6, 10 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x03	0x03	0x00

PG – Acc, Dec, PosSpeed, Type, Mode
Description: Setting of the required acceleration, deceleration, speed, ramp type (see fig.) and Generator Profile mode. The sign at speed PosSpeed determines the direction of rotation of the motor.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x00	0x02	0x40	0x4B	0x4C
Byte 9	Byte 10	Byte 11	Byte 12	Byte 13	Byte 14	Byte 15	Byte 16	Byte 17
0x00	0x40	0x4B	0x4C	0x00	0x02	0x19	0x08	0x40
Byte 18	Byte 19	Byte 20	Byte 21	Byte 22	Byte 23	Byte 24	Byte 25	Byte 26
0x42	0x0F	0x00	0x02	0x19	0x0B	0x01	0x00	0x00
Byte 27	Byte 28	Byte 29	Byte 30	Byte 31	Byte 32	Byte 33	Byte 34
0x00	0x02	0x19	0x09	0x00	0x00	0x00	0x00

Telegram:	Response				(Byte 5= 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x00	0x00	0x02	0x02	0x19
Byte 9	Byte 10	Byte 11	Byte 12	Byte 13	Byte 14	Byte 15	Byte 16	Byte 17
0x08	0x00	0x02	0x19	0x0B	0x00	0x02	0x19	0x09
Byte 18
0x00

K – Command
Description: SW enable. After entering this command, the motor is under torque and starts turning in the desired direction at the desired speed.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x11	0x00	0x01	0x00	0x00	0x00

Telegram:	Response		(Byte 5 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x11	0x00	0x00

Software limits for motor speed control in TGZ GUI¶

Step	Basic groups	Parameter	Value	Description
1	-	-	-	Load drive parameters.
2	Drive	D-mode	7	Profile generator - position mode.
3	Command	K-Command	1	SW permission. It can also be turned on using the activation button on the bottom bar. The motor generates torque.
4	PG	Acc	5000000 ¹	[inc /s²] Required acceleration.
5	PG	Dec	5000000 ¹	[inc /s²] Desired deceleration.
6	PG	PosSpeed	1000 000 ¹	[inc /s] Desired speed of movement in position mode.
7	PG	Mode	1	Position mode.
8	PG	Type	1	Required ramp type.
9	PG	DPosAngle	0	[inc] Desired position within one revolution. After entering the value and pressing the Enter key, the motor rotates to the desired angle.
10	PG	DPosRevol	0	[inc] Desired position within the range of multi-turn motion. After entering the value and pressing the Enter key, the motor rotates to position 0. Wait for the motor to rotate.
11	PG	PosSpeed	0	[inc /s] Desired speed of movement in position mode.
12	PG	Mode	0	Speed mode.
13	PG	PosLimitAnglePosit	0 ¹	Positive position limit within one revolution in the range from -2¹⁶ to 2¹⁶.
14	PG	PosLimitRevolPosit	20 ¹	[± speed] Upper limit of the position within the speed in the range from -2¹⁶ to 2¹⁶.
15	PG	PosLimitAngleNegat	0 ¹	Negative position limit within one revolution in the range from -2¹⁶ to 2¹⁶.
16	PG	PosLimitRevolNegat	-20 ¹	[± number of revolutions] Lower limit of the position within the speed in the range from -2¹⁶ to 2¹⁶.
17	PG	PosSpeed	± 5000 000 ¹	[inc /s] After entering the value, the motor will rotate at `PosSpeed` to `PosLimitRevolPosit` or `PosLimitRevolNegat`. The direction of rotation is given by the sign of the `PosSpeed` parameter.

Software limits for motor speed control (UDP)¶

D-Mode
Description: Servo amplifier mode setting: Profile Generator - position mode.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x03	0x03	0x07	0x00	0x00	0x00

Telegram:	Response	(Byte 6, 10 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x03	0x03	0x00

PG – Acc, Dec, PosSpeed, Type, Mode, DPosAngle, DPosRevol
Description: Setting of the required acceleration, deceleration, speed and type of ramps of the Generator Profile. In the last step, the zero desired position is entered (default state).

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x00	0x02	0x40	0x4B	0x4C
Byte 9	Byte 10	Byte 11	Byte 12	Byte 13	Byte 14	Byte 15	Byte 16	Byte 17
0x00	0x40	0x4B	0x4C	0x00	0x02	0x1A	0x07	0x00
Byte 18	Byte 19	Byte 20	Byte 21	Byte 22	Byte 23	Byte 24	Byte 25	Byte 26
0x00	0x00	0x00	0x02	0x19	0x0B	0x01	0x00	0x00
Byte 27	Byte 28	Byte 29	Byte 30	Byte 31	Byte 32	Byte 33	Byte 34	Byte 35
0x00	0x02	0x19	0x09	0x01	0x00	0x00	0x00	0x04
Byte 36	Byte 37	Byte 38	Byte 39	Byte 40	Byte 41	Byte 42	Byte 43	Byte 44
0x19	0x04	0x02	0x00	0x00	0x00	0x00	0x00	0x00
Byte 45	Byte 46
0x00	0x00

Telegram:	Response	(Byte 6, 10, 14, 18, 22 = 0 : no Error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x00	0x00	0x02	0x02	0x19
Byte 9	Byte 10	Byte 11	Byte 12	Byte 13	Byte 14	Byte 15	Byte 16	Byte 17
0x07	0x00	0x02	0x19	0x0B	0x00	0x02	0x19	0x09
Byte 18	Byte 19	Byte 20	Byte 21	Byte 22	Byte 23
0x00	0x04	0x19	0x04	0x00	0x02

K – Command
Description: SW enable. After entering this command, the motor is under torque and rotates to the desired position (i.e., to position 0). It is necessary to wait until the motor turns.

Telegram	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x11	0x00	0x01	0x00	0x00	0x00

Telegram	Response	(Byte 5 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x11	0x00	0x00

PG – PosSpeed
Description: Set the desired speed to zero.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x19	0x07	0x00	0x00	0x00	0x00

Telegramm	Response	(Byte 5 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x19	0x07	0x00

PG – Mode
Description: Setting the Generator Profile to speed mode.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x19	0x09	0x00	0x00	0x00	0x00

Telegram:	Response	(Byte 5 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x19	0x09	0x00

PG – PosLimitAnglePosit, PosLimitRevolPosit, PosLimitAngleNegat, PosLimitRevolNegat
Description: Setting of position limits within one revolution and within multiple revolutions.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x04	0x02	0x40	0x4B	0x4C
Byte 9	Byte 10	Byte 11	Byte 12	Byte 13	Byte 14	Byte 15	Byte 16	Byte 17
0x00	0x40	0x4B	0x4C	0x00	0x04	0x1A	0x04	0x02
Byte 18	Byte 19	Byte 20	Byte 21	Byte 22	Byte 23	Byte 24	Byte 24
0x42	0x0F	0x00	0x02	0x19	0x0B	0x01	0x01

Telegram:	Response	(Byte 5,10 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x04	0x19	0x04	0x00	0x02	0x04	0x1A
Byte 9	Byte 10	Byte 11
0x04	0x00	0x02

PG – PosSpeed
Description: SW enable. After entering this command, the motor is under torque and rotates to the desired position from the previous request.

Telegram:	Request
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
0x47	0x54	0x02	0x11	0x00	0x01	0x00	0x00	0x00

Telegram:	Response	(Byte 5 = 0 : no error)
Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5
0x47	0x54	0x02	0x11	0x00	0x00

Extended description of Profile Generator parameters¶

Parametername	Description
Acc	Required drive acceleration
Dec	Required drive deceleration
APosAngle	Current drive position within one revolution
APosRevol	Current drive position within the speed
DPosAngle	Required drive position within one revolution
DPosRevol	Required drive position within the speed
ASpeed	Current drive speed
PosSpeed	Required speed of movement in position mode
Speed	Required speed of movement in speed mode
Mode	Generator profile mode. 0 = speed, 1 = position, 2 (only read) = deceleration ramp signaling in position mode
Rdy	Signaling the completion of the drive movement. 1 = Position reached
Type	Velocity profile type 0 = harmonic unbalanced, 1 = harmonic symmetrical, 2 = fully harmonic, 3 = trapezoidal
BitsPerRevol	Number of bits per revolution for the generator profile
RotaryMode	Special positioning mode within one revolution with a shorter path - use for direct motors. 1 = Rotary mode, 0 = Standard mode
PosOffsetAngle	Position offset within one revolution
PosOffsetRevol	Position offset within the speed
PosLimitAnglePosit	Positive position limit within one revolution in the range from -2¹⁶ to 2¹⁶
PosLimitRevolPosit	Positive position limit within the number of revolutions in the range from -2¹⁶ to 2¹⁶
PosLimitAngleNegat	Negative position limit within one revolution in the range from -2¹⁶ to 2¹⁶
PosLimitRevolNegat	Negative position limit within the speed in the range from -2¹⁶ to 2¹⁶
DPosAngleRotary	In "RotaryMode = 1", this parameter determines the desired position within one revolution
AccMaxCurrentFeedForward	Current pre-correction

Values are for guidance only. They can be changed as desired. ↩↩↩↩↩↩↩↩↩↩↩↩↩↩↩↩