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MPH-02, MPB-02, MPD-02
F2039 Maximum acceleration
exceeded
7.5
Drive-Internal Interpolation
Base package of all variants in closed-loop characteristic
Brief Description
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The velocity resulting from the difference of these two values generated
the error message.
s
v
S-0-0091, Bipolar velocity
limit value
generation of error message
"F2037 Excessive position cmd difference"
Fig. 7-11:
Monitoring
for
difference
Note:
The value entered in parameter S-0-0091, Bipolar velocity
limit value should be approximately 5 to 10 % above the
intended maximum velocity of the axis.
Maximum Acceleration Exceeded
In parameter P-0-0556, Control word of axis controller (bit 15) it is
possible to set that the command acceleration is monitored for
compliance with S-0-0138, Bipolar acceleration limit value. When the
value of S-0-0138 is exceeded, the F2039 Maximum acceleration
exceeded error message is generated.
The operating modes "drive-internal interpolation" and "drive-controlled
positioning" allow time-optimized positioning of a single axis. The "drive-
internal interpolation" mode is the basis for the more comprehensive
functionality of the "drive-controlled positioning" mode.
In the "drive-internal interpolation" mode, a target position is directly
preset for the drive. In the internal positioning generator a position
command value characteristic is generated (interpolated), from the preset
value for the target position considering preset positioning data (velocity,
acceleration and jerk), as the input value for the position loop.
Operating Modes
S-0-0047, Position
command value
resulting
velocity = position
cmd value difference
error
F2037
Excessive
7-21
t
t
DK0013v1.fh7
position
command
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