What kind of internal motion reference generator can be used?
Depending on the active control mode, several motion references can be selected: profiles (with trapezoidal speed), contouring (with linear interpolation), external (from an analogue input, pulse & direction, or on-line – through a communication channel) or test (saturated ramp). For multiple axes configurations, electronic gearing is also possible. Note that one can change the reference type “on-the-fly”, without the need to wait the end of the currently executed motion, usually based on the occurrence of an internal or external event.
