Program features 121Settings• Menu - Primary settings - Start, stop, reference - Jogging• Parameters 20.25 Jogging enable (page 194), 20.26 Jogging 1 start source (page195), 20.27 Jogging 2 start source (page 195), 22.42 Jogging 1 ref (page 209),22.43 Jogging 2 ref (page 209), 23.20 Acc time jogging (page 214) and 23.21 Dectime jogging (page 214). Speed compensated stopSpeed compensation stop is available for example for applications where a conveyerneeds to travel a certain distance after receiving the stop command. At maximumspeed, the motor is stopped normally along the defined deceleration ramp, after theapplication of a user defined delay to adjust the distance traveled. Below maximumspeed, stop is delayed still more by running the drive at current speed before themotor is ramped to a stop. As shown in the figure, the distance traveled after the stopcommand is the same in both cases, that is, area A + area B equals area C.Speed compensation does not take into account shape times (parameters 23.32Shape time 1 and 23.33 Shape time 2). Positive shape times lengthen the distancetraveled.Speed compensation can be restricted to forward or reverse rotating direction.Speed compensation is supported in both vector and scalar motor control.SettingsParameters 21.30 Speed compensated stop mode (page 203), 21.31 Speed compstop delay (page 203) and 21.32 Speed comp stop threshold (page 203).UsedspeedAMotor speedMax.speedBCt (s)Area A + Area B = Area CStopcommandD1D1 = Delay defined by parameter21.31D2 = Additional delay calculated byspeed compensated stopD2
