Stober POSIDRIVE MDS 5000, Manual

Page: 566 / 590

Standard blocks
Block descriptions
ID 441692.01
STÖBER ANTRIEBSTECHNIK
565
101058 Master-Filter
Description
This block filters the actual master position and increases the resolution if
desired.
The circular length for endless axes is also automatically converted.
The resolution increase can be specified via IncMul as a power of two. If, for
example, IncMul is 3, the position is multiplied by a factor of 2 to the 3rd
power = 8.
Enable activates the filter. When inactive, increment multiplication is also
disabled.
Initialization:
The block automatically performs an initialization cycle when
Enable
changes from FALSE to TRUE. Initialization can also be triggered by Reset .
This immediately sets the low passes to the input values. The output values
are derived from the multiplication of the input values.
A time constant T must be specified for position and speed for the low
passes.
T is scaled with the following formula:
] [ 150
] [
* 65536
ms CycletimeA
ms Tau
e T
−
=
(Tau and cycle time in ms)
When a parameter is defined for T , you can use the definition of C43 , for
example.
When Reset is 0 and the filtered output value has overflowed (in relation to
the circular length), the output Over/Und is set to 1 for one cycle. When an
underflow occurs (in relation to the circular length), the output Over/Und is
set to -1.
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
Expects a 1 if the master position in input
XMstrEnd has overflowed
as per circular length during the last cycle, or a -1 if an underflow
occurred. Otherwise 0.
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.
13 Init B –
Initialization of the actual master filter. Must always be triggered when
there is a jump in the master position (e.g., due to re-
parameterization).
Outputs
No. Name Datatype Scaling Description
7 XMstrLim P64 Skal.-Fkt. 19 Continuous master position
8 XMstrEnd P64 Skal.-Fkt. 19 Master position converted to circular length
9 MstrVel I32 Skal.-Fkt. 20 Master speed
10 Over/Und I8 –
Overflow/Underflow input
Expects a 1 if the master position in input
XMstrEnd has overflowed
as per circular length during the last cycle, or a -1 if an underflow
occurred. Otherwise 0.