# Parameterising the axis parameters G200

## G200: Exclusive manual mode

When exclusive manual mode G200 is active, the profile curve is dependent on the ramp times P-AXIS-00359 and P-AXIS-00360. The value P-AXIS-00360 is used when feedhold is active.

If these values are set to 0, acceleration increases in steps and assumes

- the value P-AXIS-00009 in normal mode
- and the value P-AXIS-00259 with feedhold.

In the other case, the corresponding acceleration is increased and decreased linearly over time (trapezoidal shape). Ramp time parameters can be set regardless of the parameters for path motion.

- Take P-AXIS-00009 into consideration as maximum value for acceleration.
- Take P-AXIS-00213 into consideration as maximum value for velocity.

In addition, the delay can be set in P-AXIS-00541.

The parameter P-AXIS-00541 defines the active acceleration when the PLC signal for reduced acceleration is active (Control Unit gpCh[ChIdx]^.bahn_mc_control.reduced_acceleration).

The parameter P-AXIS-00259 sets the acceleration value for the deceleration process with feedhold. The channel P-CHAN-00097 must be set to 1 to activate this function.

## Example

Parameterising the axis parameters G200

Excerpt from the axis parameter list for G200 mode:

handbetrieb.hb.a_feedh 5000

handbetrieb.hb.tr 50000

handbetrieb.hb.tr_feedh 25000

handbetrieb.hb.vb_max 60000

handbetrieb.hb.a_max 1000

handbetrieb.hb.d_max 1000

handbetrieb.hb.a_max_red 500