Instruction Manual MC6000
7-8
•
The other software reference values RLIM1 and RLIM2 have a fixed function assigned to them.
RLIM1 (Reference Limit 1) is the lower limit of the reference value, RLIM2 (Reference
Limit 2) the upper limit. Both limit values, like the freely available fixed values, can be edited
directly. RLIM1 and RLIM2 can also be used as reference value inputs. At the same time,
both these parameters also represent the maximum and minimum values for a reference
value which is entered via a different reference value source. If the reference value entered
reaches the limit value RLIM1 or RLIM 2, then this is indicated by the flashing red LED and
the direction of rotation symbol in the K
EY
P
AD
display flashing.
Reference Value Channels and Intermediate Reference Values (C):
The calculated intermediate reference values can be displayed using parameters REF1 to REF6.
Channels REF1 and REF2 and also channels REF3 and REF4 always work together. Channel
2 is subtracted from channel 1, channel 4 is subtracted from channel 3.
The reference value of channel 3 can be matched in percentage terms using Factor RF3FA . The
prefix can be changed using an input to which function INV has been assigned. Parameter ACCR
(Acceleration Ramp) determines the accleration ramp and parameter DECR (Deceleration Ramp)
determines the deceleration ramp. Acceleration and deceleration ramps are only available in
the speed control mode. The unit used in these parameters is min
-1
s
-1
. The ramp generator can
be swtiched off by setting ACCR or DECR =0. Then the drive accelerates or decelerates with
maximum torque (parameter TCMMX in area _TCON) to the reference speed. The ramp
generator is triggered by the START signal. The drive coasts on uncontrolled if the START
signal is withdrawn (c.f. Stop ramp
Section 7.3.1).
Calculation of the Overall Reference Value (D):
The total reference value is produced by the switching of all reference value channels together.
The total reference value can be limited to one area by using the parameters RLIM1 and RLIM2.
CTRL-Menu
If the CTRL menu of the K
EY
P
AD
is used to control the drive, channel 3 is used automatically.
Ramps ACCR and DECR can be used to control speed. Reference value channels 1, 2 and 4
and also inverting are switched off.
Direct Input for Superordinate Position Control
The setting FISA0= SPEED (_CONF) should be selected for ±10V speed reference values if the
Servocontroller is to be driven from an external positioning control using speed reference values.
This provides time-efficient monitoring and processing of speed reference values (250 µs).
For scaling use the parameter RNA0 (_REF) as described for the analog input. The reference
value selectors should be switched off RSSLx= RCON (_REF) otherwise the error message
E-PAR (error in parameter list) will be displayed.
If the SPEED function is selected, control is not possible via the CTRL-Menu.
P
OS
M
OD
1
A separate rapid reference value channel has been arranged for the integrated positioning and
sequence control P
OS
M
OD
1 and arranged in the MC6000. It is used for transferring position
reference values and processing profiles to the control.
If P
OS
M
OD
1 is inserted in slot X7 there is automatic switching to this module (when P
OS
M
OD
1 is
removed, all selectors will be reset automatically to the factory setting). The reference value
input must not be programmed when positioning control is used. Any previous settings in the
area _REF are disabled when P
OS
M
OD
1 is inserted in the slot.
