MPH-02, MPB-02, MPD-02
Operating Modes
7-3
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
With the following exceptional circumstances, the desired operating mode
is not carried out in spite of the operating mode having been correctly
selected:
•
Drive error
is present
→
The corresponding error reaction is carried out.
•
Fatal warning
was triggered
→
The corresponding reaction is carried out.
•
A
"
drive command
" (e.g. homing procedure, set absolute measuring
etc.) is executed
→
The command started is carried out.
•
Drive Halt
→
This drive function is carried out.
See also "Basic Functions of Master Communication: Device Control" in
chapter "Master Communication"
In order to achieve a quick and smooth change of operating mode in
running operation, it is possible to make a "drive-controlled change of
operating mode". Drive-internally this procedure ensures that when the
operating mode is changed the transition is carried out in a synchronized
way, even if the command value changes abruptly.
Command Value Acceptance and Acknowledgment
Each preset command value is accepted immediately when the
respective command value parameter (e.g. S-0-0036, S-0-0080,
S-0-0258, …) is written in the case of the operating modes:
•
torque/force
control
•
velocity
control
•
position control with cyclic command value input
•
drive-internal
interpolation
•
synchronization
modes:
•
velocity synchronization with real/virtual master axis
•
phase synchronization with real/virtual master axis
•
electronic cam shaft with real/virtual master axis
In the positioning modes (drive-controlled positioning, positioning block
mode), however, the command value (target position, velocity, positioning
block, ...) is only accepted when the master explicitly requests this by a
"command value acceptance".
The command value acceptance is carried out in a different way,
according to the positioning mode or profile type:
•
operating mode "drive-controlled positioning"
acceptance of preset command value (position, velocity) by toggling
bit 0 in
S-0-0346, Positioning control word
→
toggle mechanism
•
operating mode "positioning block mode"
acceptance of the positioning block selected via
P-0-4026,
Positioning block selection
by a 0-1 edge of bit 0 in
P-0-4060,
Positioning block control word
, when the parallel interface or, in the
case of field buses, the I/O mode is used as master communication
→
edge control
Special Cases
Drive-Controlled Change of
Operating Mode
Command Value Acceptance
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
