MPH-02, MPB-02, MPD-02
Operating Modes
7-9
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
•
smoothing of preset command value by means of average filter (jerk
limitation by means of moving average filter)
•
fine interpolation of the velocity command values; transmission of
these command values in the position loop clock
fine interpolator is switched on by default (P-0-0556, bit 0 1)
•
Velocity control loop monitoring (cannot be parameterized) to prevent
the drive from running away.
This monitor can be switched off (P-0-0556, bit 1); the default setting is
"On".
•
velocity loop internally generates the torque/force command value to
which the value of parameter
S-0-0081, Additive torque/force
command value
can be added as an additive component.
•
control word and status word especially for "velocity control" mode (cf.
P-0-1200 and P-0-1210)
Pertinent Parameters
•
S-0-0036, Velocity command value
•
S-0-0037, Additive velocity command value
•
S-0-0091, Bipolar velocity limit value
•
S-0-0100, Velocity loop proportional gain
•
S-0-0101, Velocity loop integral action time
•
P-0-0004, Velocity loop smoothing time constant
•
P-0-0048, Effective velocity command value
•
P-0-0556, Control word of axis controller
•
P-0-1119, Velocity mix factor feedback 1 & 2
•
P-0-1120, Velocity control loop filter: filter type
•
P-0-1125, Velocity control loop: average value filter clock
•
P-0-1126, Velocity control loop: acceleration feed forward
•
P-0-1200, Control word of velocity control mode
•
P-0-1201, Ramp 1 pitch
•
P-0-1202, Final speed ramp 1
•
P-0-1203, Ramp 2 pitch
•
P-0-1206, Memory of velocity command values
•
P-0-1207, Lower limit of velocity masking window
•
P-0-1208, Upper limit of velocity masking window
•
P-0-1209, Acceleration factors for velocity masking window
•
P-0-1210, Status word of velocity control mode
•
P-0-1211, Deceleration ramp 1
•
P-0-1213, Deceleration ramp 2
•
P-0-1222, Velocity command filter
Pertinent Diagnostic Messages
•
A0101 Drive in velocity control
•
E2059 Velocity command value limit active
•
E2063 Velocity command value > limit S-0-0091
•
F8078 Speed loop error
•
F8079 Velocity limit S-0-0091 exceeded
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com
