8.11.6 Engagement
P 253[0] - MPRO_ECAM_Egear_GearInMode is used to define the mode for
engagement.
l
DIRECT (0) = Direct
Direct engagement: Angular synchronous; with jerking (no ramps).
l
RAMP (1) = Linear speed ramp
Engagement with linear acceleration: Not angular synchronous; with jerking.
P 255[0]
(see below) can be used to define the acceleration.
l
FADE (2) = Engagement fade-out
Engagement with fade-in function (5th degree polynomial): Not angular
synchronous; jerk-limited. The position is ignored. There always remains a
variation between reference and actual position.
P 257[0]
(see below) is
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
284
8 Motion profile
used to define the engagement distance (between the dashed lines).
l
CROSSFADE (3) = Crossfading
Engagement with crossfading function (5th degree polynomial): Angular
synchronous; jerk-limited; speed will overshoot during engagement.
P 255[0] - MPRO_ECAM_Egear_GearInAcc is used to define the acceleration for
the "RAMP (1)” mode.
P 257[0] - MPRO_ECAM_Egear_GearInDist is used to define the engagement
distance. The actual engagement occurs within this range (between the dashed
lines).
