Deceleration
With ...
l
P 194 - MPRO_TAB_TDec
(for torque control) or
l
P 197 - MPRO_TAB_SDec
(for speed control) or
l
P 200 - MPRO_TAB_PDec
(for position control)
and indexes 0–15, the deceleration for each individual motion task can be defined.
The input must not be zero.
Wait time in Auto mode
P 204 - MPRO_TAB_WaitTime is used to define the wait time before the next
motion task is carried out.
Maximum table index in Auto mode
P 206[0] - MPRO_Tab_MaxIdx is used to define the table index up to which driving
jobs will be carried out in one of the auto modes.
Current table index
P 207[0] - MPRO_Tab_ActIdx will show the index for the motion task that is currently
active. If parameter P 205 MPRO_TAB_Mode is set to “Para(0)”, a driving set can be
entered and approached directly.
Activation of reference table
The following procedures can be used in order to activate the setpoint table for
operation.
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
268
8 Motion profile
Activation
Setting
Function
Actuation via
digital inputs
Input ISDxx =
TBEN
Enable a selected driving set.
The selection of a new motion task
always interrupts an ongoing
positioning and the follow-up job logic.
Actuation via
digital inputs
Input ISDxx =
TAB0 to TAB3
The binary significance (2
0
, 2
1
, 2
2
, 2
3
)
results from the TABx assignment. The
setting TAB0 has the lowest
significance (2
0
) and TAB3 the highest
(2
3
). A high level on the digital input
activates the corresponding driving set.
Triggering via field
bus system
Enable "Execute
motion task" bit.
Enable a selected driving set. The
selection of a new motion task always
interrupts an ongoing positioning and
the follow-up job logic.
Triggering via field
bus system
"Activate follow-up
job" bit
The binary significance (2
0
, 2
1
, 2
2
, 2
3
)
results from the TABx assignment of the
control word. The setting TAB0 has the
lowest significance (2
0
) and TAB3 the
highest (2
3
).
Table 8.23: Activation of table references
ID
Index Name
Unit
Description
193
MPRO_TAB_TAcc
TAB: Torque mode acceleration
193
0
MPRO_TAB_TAcc
Nm/ms
193
1 - 15 MPRO_TAB_TAcc
Nm/ms
194
MPRO_TAB_TDec
TAB: Torque mode deceleration
194
0
MPRO_TAB_TDec
Nm/ms
194
1 - 15 MPRO_TAB_TDec
Nm/ms
Table 8.24: “Setpoint table settings” parameters
