MPH-02, MPB-02, MPD-02
Operating Modes
7-91
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The figure below illustrates the absolute synchronization to a virtual
master axis, the master axis being in standstill when the operating mode
is activated.
DK000043v01_en.fh7
t
t
0
0
t
master axis
velocity
0
master axis
position
operating mode
activated
1
t
0
1
P-0-0142
t
slave axis
velocity
0
P-0-0143
t
0
slave axis
position
t
0
synchronous oper. mode
in synchronization
(P-0-0089, bit 8)
1
S-0-0228
synchronization
completed
(P-0-0152, bit 0)
Fig. 7-70:
Example: absolute synchronization out of standstill
•
When the operating mode is activated, the synchronous velocity = 0.
The current master axis position differs from the synchronous position.
•
The synchronization status signals "synchronization running"
(P-0-0152, bit 0 = 0).
•
The absolute angle reference between slave axis and master axis
position is established. The master axis is turning with the
parameterized synchronization velocity (P-0-0143). During
acceleration and deceleration the synchronization acceleration
(P-0-0142) is effective.
•
As soon as the position difference between master axis and slave axis
is smaller than the "position synchronization window" (S-0-0228), the
status bit "slave axis has been synchronized" (P-0-0089, bit 8 = 1) is
output.
Bit 0 is set in parameter P-0-0152 when synchronization has been
completed.
Absolute Synchronization Out of
Standstill
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of
CMA/Flodyne/Hydradyne
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