Motor Power Company DUET_FL 48/10, Руководство пользователя

Страница: 62 / 196

Page 62
In contrast to many competition products, the DUET_FL controller recalculates the entire
movement process in every control cycle. This means that positioning processes can be
changed or aborted at any time even during the movement. This concept is supported by
the high level of performance of the Motion-Control-DSP inside the DUET_FL controller.
The high-performance positioning control system in the DUET_FL controller has numerous parameters
and position data sets. Up to 64 position sets can be stored in a non-volatile manner in the DUET_FL
and approached with the help of the trajectory generator.
Each of the 64 position sets includes a separate target position (destination). The other parameters of
the 64 position sets are divided into 4 groups.
The following parameters can be set for each of the 4 position groups:
 Accelerations
 Running speed
 Selection of the type of acceleration:
Jerk-limited speed profile or time-optimal (constant acceleration)
 Relative or absolute positioning
 Wait for end of running positioning run or reject
 Start delay
As an alternative, the DUET_FL also allows to save all the parameter of a position set individually for
each position set. This means a higher level of flexibility in the various motion profiles. As a result, the
maximum number of available position sets is reduced to 16.
The maximum number of available position sets, i.e. 16 or 64, can be set through the DUET_FL
ServoCommander
TM (see chapter Global positioning settings ).
In addition, there are position data sets for positioning processes using the CAN bus (DSP402) and
position sets for homing.
The positioning control thus supports point-to-point movements with the final speed zero (standstill at
target point). Positioning process can be aborted during the movement and the next position can be
directly approached.
The groups and positions are selected through the digital inputs (see chapter Approaching
destinations ). The RS232 interface can be used alternatively for the selection.
The position data sets for homing or for positioning processes through CAN (DS402) are fed directly to
the trajectory generator.
Activating the operating mode
To activate the homing or positioning mode, the Commands
windows has to be configured as follows:
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company