Parker MDC Series, User Manual

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Parker Hannifin Manufacturing Srl user’s manual MDC
51
6.1.5 Mode Cyclic synchronous position (operative mode 203)
The overall structure for this mode Cyclic synchronous position (Pr31 = 203 – only for
EtherCAT protocol) is shown in Figure:
With this mode, the trajectory generator is located in the control device, not in the drive
device. In cyclic synchronous manner, it provides a target position to the drive device, which
performs position control, velocity control and torque control. Optionally, additive velocity
and torque values can be provided by the control system in order to allow for velocity and/or
torque feedforward. Measured by sensors, the drive device may provide actual values for
position, velocity and torque to the control device.
The behaviour of the control function is influenced by control parameters like limit functions,
which are externally applicable. The drive internal control function is not specified more
precisely in this part of profile specification as it is highly manufacturer-specific, but the
format and content of the control parameters are provided.
Index Object Name Type Attr. M /O
60B0h VAR Position offset INTEGER32 rw O
60B1h VAR Velocity offset INTEGER 32 rw O
60B2h VAR Torque offset INTEGER 16 rw O
Index Object Name Type Chap.
6040h VAR Controlword VALORE ASSOLUTO16 dc
6041h VAR Statusword VALORE ASSOLUTO16 dc
605Ah VAR Quick stop option mode INTERO 16 dc
Position
control
Velocity
control
Torque
control
M
S
+
+ +
+
+
+
Torque offset (60B2h)
Torque actual value
Velocity actual value
Position actual value
(6077h)
(606Ch)
(6064h)
Velociy offset (60B1h)
Position offset (60B0h)
Target position
(607Ah)