7-8
Operating Modes
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Diagnostic Messages and Monitoring Functions
Diagnostic Status Message
The activated "torque/force control" mode is displayed by the following
diagnostic message:
•
A0100 Drive in TORQUE control
Monitoring Functions
Monitoring functions in torque/force control:
•
The value of parameter
S-0-0036,
Velocity command value
is limited
to
S-0-
0091, Bipolar velocity limit value
. If the value in S-0-0036 is
higher than the value in S-0-0091, the
E2063 Velocity command
value > limit S-0-0091
warning is generated.
7.3 Velocity
Control
Brief Description
In the "velocity control" mode a velocity command value is preset for the
drive. The velocity command value is limited by ramps and filters.
torque/force
command value
effective
velocity command
value
DF0026v1.fh7
M
velocity command
value
command value adjust-
ment for velocity loop
velocity loop
current loop
Fig. 7-4:
"Velocity control" block diagram
•
an external velocity command value (sum of
S-0-0036, Velocity
command value
and
S-0-0037, Additive velocity command value
)
is preset via analog inputs or master communication interface
(SERCOS, field bus, ...)
•
selection of predefined and internally stored velocity command value
steps (fixed values) via digital inputs (e.g. jogging forward/backward,
feeding, setting up, ...)
•
window comparator for masking critical velocity ranges in the
command value channel (e.g. machine resonances) with
corresponding acceleration adjustment (cf. P-0-1209)
•
ramp generator with separately adjustable two-stage acceleration and
deceleration limits of the preset velocity command value; switching
from ramp 1 to ramp 2 is done with selectable velocity and run-up stop
that can be parameterized
•
velocity control via a digital PI loop with extensive filter measures
•
monitoring the command velocity and actual velocity for exceeding
parameter
S-0-0091, Bipolar velocity limit value
•
smoothing of velocity control loop difference via filter that can be
parameterized
E2063 Velocity command value >
limit S-0-0091
Features
Base package
of all variants
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
