Table of Contents
Advertisement
MPH-02, MPB-02, MPD-02
Command Value Processing in Positioning Block Mode
Operating mode: positioning block mode
positioning block 64
positioning block 64
mode
positioning block 1
target position
mode
target position
velocity
target position
acceleration
velocity
deceleration
acceleration
jerk
deceleration
jerk
P-0-4026
positioning
block
selection
P-0-4057
P-0-4060
P-0-4051
P-0-4052
P-0-4053
Single-Block Processing
Positioning Block Elements
Effective Positioning Velocity
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
drive-controlled positioning
S-0-0259/S-0-0108
S-0-0260/S-0-0359
S-0-0393
E2053
S-0-0417
E2064
S-0-0418
target pos.
mod
interpreter
S-0-0346
S-0-0419
S-0-0430
F2050
Fig. 7-25:
Command value processing in positioning block mode
Description of Basic Function
A positioning block is defined by the values of the following list
parameters:
• P-0-4006, Positioning block target position
• P-0-4007, Positioning block velocity
• P-0-4008, Positioning block acceleration
• P-0-4009, Positioning block jerk
• P-0-4019, Positioning block mode
• P-0-4063, Positioning block deceleration
Note:
Each parameter contains 64 elements, elements of the same
number generate the travel profile of the respective positioning
block.
The drive reaches the relevant positioning block velocity after an
acceleration phase with the respective positioning block acceleration
(P-0-4008).
The effective velocity during a positioning process is calculated as follows:
v
max
v
:
velocity
max
P-0-4007:
positioning block velocity
S-0-0108:
feedrate override
Fig. 7-26:
Effective velocity during a positioning process
S-0-0193
S-0-0359
generator
x
S-0-0342
S-0-0343
E2049
P-0-0434
S-0-0437
E2055
P-0-4061
=
∗
P
-
0
-
4007
S
-
0
-
7-43
Operating Modes
position loop
cmd
DF000088v01_en.fh7
0108
/
100%
Advertisement
Table of Contents
