MPH-02, MPB-02, MPD-02
Operating Modes
7-17
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
•
position control with regard to the command value preset in parameter
S-0-0047, Position command value
•
timebase for cyclic command value input defined by
S-0-0001, NC
cycle time (TNcyc)
•
monitoring the position command value difference for exceeding
parameter
S-0-0091, Bipolar velocity limit value
•
position command values of the control unit smoothed by means of
adjustable shape filter; calculation from acceleration and jerk limit
values; display in parameter
P-0-0042, Current position command
average value filter order
•
fine interpolation of position command value of the control unit to
position controller clock; can be switched by means of parameter
P-0-0187, Position command processing mode
•
position control with regard to actual position value encoder 1 (motor
encoder) or actual position value encoder 2 [external (load-side)
encoder], can be dynamically switched
•
velocity feedforward through adjustable factor of 0...150
%
(default = 100 %)
•
acceleration monitor for position command value can be switched on
(P-0-0556, bit 15)
Note:
The condition for this operating mode is synchronous
communication between the control unit and the drive as it is
the case with SERCOS interface, for example.
Pertinent Parameters
•
P-0-0010, Excessive position command value
•
P-0-0011, Last valid position command value
•
P-0-0041, Position command average value filter time constant
•
P-0-0042, Current position command average value filter order
•
P-0-0047, Position command value control
•
P-0-0099, Position command smoothing time constant
•
P-0-0187, Position command processing mode
•
P-0-0434, Position command value controller
•
P-0-0556, Control word of axis controller
•
S-0-0047, Position command value
•
S-0-0091, Bipolar velocity limit value
•
S-0-0138, Bipolar acceleration limit value
Pertinent Diagnostic Messages
•
A0102 Position mode with encoder 1
,
•
A0103 Position mode with encoder 2
,
•
A0104 Position mode lagless, encoder 1
,
•
A0105 Position control lagless, encoder 2
•
F2037 Excessive position command difference
•
F2039 Maximum acceleration exceeded
Features
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
