7-82
Operating Modes
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
This actual position value is set by the command "set absolute
measuring" or by "drive-controlled homing procedure" for the actual
position value that has been selected in the synchronization mode that
was set. If, for example, the operating mode "phase synchronization with
virtual master axis, encoder 1" has been set,
P-0-0753, Position actual
value in actual value cycle
will change by analogy with
S-0-0051,
Position feedback 1 value
. The range of feedback 1 value, however, is
limited to
S-0-0103, Modulo value
. The homing of
S-0-0051, Position
feedback 1 value
will cause
P-0-0753, Position actual value in actual
value cycle
to be set to the same value as
S-0-0051, Position feedback
1 value
. The position status of the actual position value in the actual value
cycle can be taken from bit 4 of parameter
P-0-0089, Status word for
synchronous operating modes
.
The actual value cycle is calculated
•
when progressing to operating mode in the transition command from
phase 3 to 4
- or -
•
by starting the command
P-0-0071, C3100 Recalculate actual value
cycle
for recalculating the actual value cycle in phase 4 when a
parameter, that was used for calculating the actual value cycle, was
changed in phase 4.
Note:
At the start of command C3100 the status bits in
S-0-0403,
Position feedback value status
and the status bit in
P-0-0089, Status word for synchronous operating modes
(bit 4) are cleared. After the position data reference has been
successfully established, the bits are set again.
The actual value cycle is calculated in dependence of bit 4 of parameter
P-0-0155, Synchronization mode
.
With bit 4 = 0 in P-0-0155 the actual value cycle is determined in
dependence of
P-0-0752, Load revolutions per actual value cycle
slave axis
.
0103
0
*
0752
0
−
−
−
−
=
S
P
cycle
value
actual
Fig. 7-49:
Actual value cycle with rotary modulo scaling and P-0-0155, bit 4 = 0
0159
0
*
0752
0
−
−
−
−
=
P
P
cycle
value
actual
Fig. 7-50:
Actual value cycle with linear modulo scaling and P-0-0155, bit 4 = 0
With bit 4 = 1 in P-0-0155 the actual value cycle is determined according
to the formulas below:
•
operating mode: phase synchronization and
cam shaft with P-0-0755 = 0
0103
0
S
*
0156
0
P
0157
0
P
*
0750
0
P
cycle
value
actual
−
−
−
−
−
−
−
−
=
Fig. 7-51:
Actual value cycle with rotary modulo scaling and P-0-0155, bit 4 = 1
Establishing the Position Data
Reference
Calculating Actual Value Cycle
P-0-0155 bit 4 = 0
P-0-0155 bit 4 = 1
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
