Rexroth IndraDrive
Status Diagnostic Messages
6-29
DOK-INDRV*-GEN-**VRS**-WA01-EN-P
A0153 Drive-controlled positioning, encoder 2, lagless
Supported by Firmware Variant:
FWA-INDRV*-
MPH02
VRS-MS
FWA-INDRV*-
MPB02
VRS-MS
FWA-INDRV*-
MPD02
VRS-MS
From the master the drive receives a position command value in the
S-0-0282, Positioning command value
parameter. This distance, when
the status of bit 0 of parameter
S-0-0346, Positioning command strobe
changes, is copied to
S-0-0430, Effective target position
or, in the case
of a relative input, added to the value in
S-0-0430, Effective target
position
. The drive then generates (interpolates) an internal position
command value characteristic in order to get from the current position to
this target position. This is done considering the limit values for velocity,
acceleration and jerk in the following parameters:
•
S-0-0259, Positioning Velocity
,
•
S-0-0260, Positioning Acceleration
,
•
S-0-0359, Positioning Deceleration
and
•
S-0-0193, Positioning Jerk
.
The drive laglessly moves to the target position (prerequisite:
P-0-0040,
Velocity feedforward evaluation
=100%).
"Encoder 2" means that the encoder assigned by means of
P-0-0078,
Assignment optional encoder->optional slot
is used as a control
encoder.
See also Functional Description "Drive Controlled Positioning"
A0153 - Attributes
Display:
AF
Mess. no.:
A0153 (hex)
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