Parker MDC 100 30 6.5, Руководство пользователя

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Parker Hannifin Manufacturing Srl user’s manual MDC
52
6.1.5.1 Functional description
Figure below shows the inputs and outputs of the drive control function. The input values
(from the control function point of view) are the target position and optionally a position
offset (to be added to the target position to allow two instances to set up the position) as well
as an optional velocity offset and an optional torque offset used for feedforward control.
Especially in cascaded control structures, where a position control is followed by a velocity or
torque control, the output of the position control loop is used as an input for a further
calculation in the drive device. Limit functions may be used to restrict the range of values to
avoid unintended positions.
The interpolation time period defines the time period between two updates of the target
position and/or additive position and shall be used for intercycle interpolation.
The target position shall be interpreted as absolute value.
The position actual value is used as mandatory output to the control device. Further outputs
may be the velocity actual value, torque actual value and the velocity sensor actual value. The
following error actual value may be used as an additional parameter.
All values are transformed – if necessary – from user-defined units to normalized units such
as increments with the relative functions.
A target position value or position offset outside the allowed range of the following error
window around a position demand value for longer than the following error time out shall
result in setting bit 13 (following error) in the statusword to 1.
Limit
function
+
+
Following error window (6065h)
Torque actual value
Position actual value
(6077h)
(606Ch)
(6064h)
Position offset
(60B0h)
Target position
(607Ah)
Multiplier
Position range limit (607Bh)
Software position limit (607Dh)
Polarity (607Eh)
Following error time out (6066h) [ms]
Max motor speed (6080h)
Multiplier
Polarity (607Eh)
Velocity offset (60B1h)
Quick-stop deceleration (6085h)
Quick-stop option code (605Ah)
Motion profile type (6086h)
Interpolation time period (60C2h)
Torque offset (60B2h)
Multiplier
Motor rated torque (6076h)
Max torque (6072h)
Multiplier
Motor rated torque (6076h)
Drive control
function
Velocity actual value
(60F4h)
Following error
actual value
(6069h)
Velocity sensor
actual value