REXROTH DIAX04, Troubleshooting Manual

Page: 98 / 114

5-30
Description of diagnostic letters F... and E... DIAX04 ELS-06VRS
DOK-DIAX04-ELS-06VRS**-WA01-EN-P
A147 Relative drive controlled interpolation, encoder 2
In the S-0-0282, Travel distance parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Setup flag for relative command values parameter is toggled, this
distance is summed up to the value in S-0-0258, Target position . In
order to get from the current position to the new target position, the drive
now generates (interpolates) an internal position command value curve.
This is done taking the limit values of velocity, acceleration, and jerk in the
parameters
•
S-0-0259, Positioning velocity
•
S-0-0260 , Positioning acceleration
•
S-0-0193, Positioning jerk
into account.
The drive approaches the target position with a position lag that is
proportional to the velocity. Encoder 2 means that the position encoder
that is attached to the load is used for closing the position control loop
(direct axis position measurement).
See also the functional description: "Operating Mode: Relative drive-
internal interpolation".
A148 Relative drive contr. interpolation, enc. 1, lagless
In the S-0-0282, Travel distance parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Setup flag for relative command values parameter is toggled, this
distance is summed up to the value in S-0-0258, Target position . In
order to get from the current position to the new target position, the drive
now generates (interpolates) an internal position command value curve.
This is done taking the limit values of velocity, acceleration, and jerk in the
parameters
•
S-0-0259, Positioning velocity
•
S-0-0260 , Positioning acceleration
•
S-0-0193, Positioning jerk
into account.
The drive approaches the target position of the travel path without a
position lag. Encoder 1 means that the position encoder is attached to the
motor shaft (indirect measurement of the axis position).
See also the functional description: "Operating Mode: Relative drive-
internal interpolation".