Description of the Software Modules and Parameters
Parameter manual
b maXX
BM5800
Document No.: 5.16029.03
645
3
3.8.10.7 Overlaying using an additional movement
The curve can be shifted in the Y-direction by overlaying the polynomial curve with an ad-
ditional movement.
The distance of this overlaid movement can be specified in the parameter Target position
offset (
). This parameter is signed including the following information:
Therewith, the overlaid movement of 32767 revolutions at maximum and 359.99° in the
positive and negative direction can be defined.
This movement can be initiated only, if the coupled operation is active and the drive sig-
nals that it is processing the curve by setting bit 10 in
. The activation works the
following way:
1
The additional movement is defined by the parameters
.
2
The additional movement is activated via bit 6 in
"Control word".
3
As soon as the additional movement is running the drive sets bit 2 and resets bit 10 in
Status.
4
After the additional movement was completed the drive resets bit 2 and sets bit 10 in
Status again.
During an ongoing additional movement changes of the profile data (
to
) and the target position compensation are not taken into account. The rising
edges in the control word bit 6 are ignored till the additional motion is reported as com-
pleted by the status.
During the processing of the additional movement it is checked if the additional movement
and the polynomial curves exceed the limited positioning difference in the drive per field-
bus cycle. If this is the case the drive will stop operation due to the error 910. The user
must be aware that the speed and acceleration of polynomial curves add up. This has to
be possible in the application.
3.8.10.8 Intermediate buffering of curve segments
To process the curve segments efficiently in the firmware of the drive, from a great
amount of curve segments that belong to an entire curve, seven segments are loaded into
an intermediate buffer which can be accessed fast by the firmware.
Two segments in both master directions can be skipped due to the size of the interim buff-
ering. The skipping of segments can occur at very short segments or at high master axis
speed. The drive travel distances of the skipped segments are considered. There is no
calculation of the curve interpolation points using the coefficient of the skipped segments.
If more than two segments are skipped the controller signalizes the error 2743 "The inter-
im buffering of the polynomial curves is empty".
Due to the buffer handling delay times can occur when changing the segment sequence
and activating reloaded curves.
1 sign bit
15 bit revolutions
16 bit angle
