Referencevalue
P 0165
-OFF (0)
-ANA0 (1)
-ANA0 (2)
-Tab (3)
-leer (4)
-iPLC (5)
-PARA (6)
-CiA DS402 (7)
-SERCOS (8)
-PROFIBUS (9)
-VARAN (10)
Normalization
-DS402
-SERCOS
-User-specific
Profilegenerator
PG-Mode
-Ramps
-Smoothing
-Filter
Referencevalue
speedcontrol
Referencevalue
Userunit
Referencevalue
Increments
Fig. 8.25: Profile mode speed control
Profile Generator with speed control:
Control mode
P 300[0] - CON_CfgCon
= speed control
Under Profile select the profile generator (PG)
P 301[0] - CON_Ref_Mode
=
PG(0)
Selection of reference source/>
P 165[0] - MPRO_REF_SEL
Scaling
Select jerk conditions
Set stop ramps, smoothing, filter, homing
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
181
8 Motion profile
Fig. 8.26: Speed control in PG mode, smoothing
8.3.2 PG mode with position control
Travel commands are transmitted to the internal profile generator (see
Section "Basic settings" on page 1
80
). It is composed of the following items:
Target position
Maximum travel speed
Maximum acceleration
Maximum deceleration
The profile generator uses the
P 166[0] - MPRO_REF_JTIME
jerk values
and a
P 167[0] - MPRO_REF_OVR
override factor for the travel speed in
order to generate the trajectory for the position setpoint that will take the least
amount of time, taking all limitations into account.
The position references are then processed with the selected interpolation
method.