8-40
Drive Functions
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
See also "General Information on the Operation of Motors with IndraDrive:
Motor Holding Brake" in chapter "Motor, Mechanical Axis System,
Measuring Systems"
Return Motion
Note:
The error reaction "return motion" can only be used for
operation with encoder (closed-loop) and when the expansion
package "servo function" has been enabled!
If return motion was entered as the "best possible deceleration", the drive
generates a
position command value profile
in order to travel the
desired distance in the case of error. This means that a relative process
block is activated in the case of error.
With the "drive-internal interpolation" mode, the position command value
profile is generated internally by means of predefined travel block data
(velocity, acceleration, jerk).
See also "Drive-Internal Interpolation" in chapter "Operating Modes"
The value of
P-0-0055, Return distance
depends on the preceding sign,
i.e. positive return distance causes positive motion referring to the
coordinate system selected.
Note:
The value of
P-0-0055, Return distance
can be configured
and transmitted in the cyclic telegram (MDT).
The velocity profile is generated with the parameters
•
P-0-0056, Return velocity
and
•
P-0-0057, Return acceleration
.
In addition, the position command values can be smoothed by the
position command value average value filter, the order of the average
value filter being calculated from
P-0-0057, Return acceleration
and
P-0-0058, Return jerk
.
Calculating
P-0-0042, Current position command average value filter
order
:
jerk
Return
0058,
-
0
-
P
on
accelerati
Return
0057,
-
0
-
P
0042
0
P
=
−
−
After the drive has traveled the process block, i.e. after it moved to the
desired target position, the drive is torque-free. The process block is
considered to have been traveled when the following applies:
•
target position = active position command value;
i.e. bit 12
S-0-0013, Class 3 diagnostics
= 1
- and -
•
v
act
= 0;
i.e. bit 1 in
S-0-0013, Class 3 diagnostics
= 1 (actual velocity smaller
than
S-0-0124, Standstill window
)
P-0-0119 = 3
Generating the Position
Command Value Profile
Status Messages for
Acknowledgment
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
