Image 8.67: “Setpoint table” screen when using the "PCON(3) = Position control
mode” control mode
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
267
8 Motion profile
P 203 - MPRO_TAB_PMode is used to define the type of positioning used:
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ABS(0) = Absolute
Absolute positioning
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REL(1) = Relative (after “target reached”)
Relative positioning after target position reached.
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REL at once(2) = Relative (at once)
Aborts a current motion task and moves, as of the current position, to the new
reference.
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SPEED(3) = Endless (speed controlled)
If a table value is set to SPEED, an infinite motion task is transmitted. If a
table value with the setting ABS or REL is additionally selected, the infinite
job is quit and the newly selected table value is approached from the current
position.
Speed
If the Servo Drive is run with motor control mode "PCON(3) = Position control mode"
(for information on the setting, see Section "Basic settings" on page 110), the “Mode”
and “Speed” lines will be added to the “Setpoint table” screen.
P 201 - MPRO_TAB_PSpd is used to define the speed for a motion task.
Acceleration
With ...
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P 193 - MPRO_TAB_TAcc
(for torque control) or
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P 196 - MPRO_TAB_SAcc
(for speed control) or
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P 199 - MPRO_TAB_PAcc
(for position control)
and indexes 0–15, the accelerations for moving to the setpoint for each individual
motion task can be defined. The input must not be zero.
