MPH-02, MPB-02, MPD-02
Operating Modes
7-21
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The velocity resulting from the difference of these two values generated
the error message.
v
s
t
t
DK0013v1.fh7
S-0-0047, Position
command value
resulting
velocity = position
cmd value difference
generation of error message
"F2037 Excessive position cmd difference"
S-0-0091, Bipolar velocity
limit value
Fig. 7-11:
Monitoring for error
F2037 Excessive position command
difference
Note:
The value entered in parameter
S-0-0091, Bipolar velocity
limit value
should be approximately 5 to 10 % above the
intended maximum velocity of the axis.
Maximum Acceleration Exceeded
In parameter
P-0-0556, Control word of axis controller
(bit 15) it is
possible to set that the command acceleration is monitored for
compliance with
S-0-0138, Bipolar acceleration limit value
. When the
value of S-0-0138 is exceeded, the
F2039 Maximum acceleration
exceeded
error message is generated.
7.5 Drive-Internal
Interpolation
Brief Description
The operating modes "drive-internal interpolation" and "drive-controlled
positioning" allow time-optimized positioning of a single axis. The "drive-
internal interpolation" mode is the basis for the more comprehensive
functionality of the "drive-controlled positioning" mode.
In the "drive-internal interpolation" mode, a target position is directly
preset for the drive. In the internal positioning generator a position
command value characteristic is generated (interpolated), from the preset
value for the target position considering preset positioning data (velocity,
acceleration and jerk), as the input value for the position loop.
F2039 Maximum acceleration
exceeded
Base package
of all variants in
closed-loop
characteristic
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
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Hydraulic
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Pneumatic
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426-5480
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www.cmafh.com
