Stober POSIDRIVE MDS 5000, Manual

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System blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
319
489 Master-Filter
Description
The block filters the actual master position and the master speed and
increases the resolution if desired. When the resolution is increased, the
circular length is automatically converted for endless axes.
The increase in resolution can be specified as the second power via
IncMul .
With IncMul = 3, the position is multiplied by the factor 2
3
= 8.
Please remember that the multiplied master speed must fit the data format
I32. Filtering is activated with
Enable . The increment multiplication remains
always activated, however.
An initialization cycle can be triggered with the
Init input. This immediately
sets the low passes to the input values. The output values are calculated
from the multiplication of the input values.
Enter one time constant T each for the low passes, for the position in input
PosFilt and for the speed in input SpdFilt . Scaling for T uses the following
formula:
(Tau and cycle
time in ms)
When a parameter is defined for
T , the definition of C43 can be used, for
example.
When
Init equals 0 and the filtered output value has its overflow (in relation to
the circular length), the output Over/Und is set to 1 for one cycle and to -1 for
an underflow (as related to circular length). During initialization via Init ,
Over/Und is always 0. When the circular length is 0 (limited axis), Over/Und
is also always 0.
Inputs
No. Name Datatype Scaling Description
1 XMstrLim P64 Skal.-Fkt. 19 Continuous master position
2 XMstrEnd P64 Skal.-Fkt. 19 Master position converted to circular length
3 MstrVel I32 Skal.-Fkt. 20 Master speed
4 Over/Und I8 –
Overflow/Underflow input
The input expects the value 1 when an overflow has occurred for the
master position during the last cycle on the output
XMstrEnd as per
circular length. The value -1 is expected when an underflow has
occurred. The value 0 is expected if neither overflow nor underflow
has occurred during the last cycle.
5 XLimNK P64 Skal.-Fkt. 19
Continuous master position without offset, based on time stamp of the
encoder evaluation
6 XEndNK P64 Skal.-Fkt. 19
Master position converted to circular length without offset, based on
time stamp of the encoder evaluation
7 IncMul I8 –
Factor for increment multiplication, is evaluated as exponent for the
basis 2.
Example:
3 means multiplication by a factor of 2
3
= 8
5 means multiplication by a factor of 2
5
= 32
8 PosFilt I32 Skal.-Fkt. 11 Time constant for position filter
9 SpdFilt I32 Skal.-Fkt. 11 Time constant for speed filter
10
DeadCmp
I32 65536 = 1s
The filtered actual master position is extrapolated with the filtered
speed by the specified time to compensate for dead times when the
master position is evaluated.
11 CircLen P64 Skal.-Fkt. 19
Circular length of the actual master position. With endless axes:
always wire to parameter
G40 . With limited axes: the input must