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8-40
Drive Functions
P-0-0119 = 3
Generating the Position
Command Value Profile
Status Messages for
Acknowledgment
See also "General Information on the Operation of Motors with IndraDrive:
Motor Holding Brake" in chapter "Motor, Mechanical Axis System,
Measuring Systems"
Return Motion
Note:
The error reaction "return motion" can only be used for
operation with encoder (closed-loop) and when the expansion
package "servo function" has been enabled!
If return motion was entered as the "best possible deceleration", the drive
generates a position command value profile in order to travel the
desired distance in the case of error. This means that a relative process
block is activated in the case of error.
With the "drive-internal interpolation" mode, the position command value
profile is generated internally by means of predefined travel block data
(velocity, acceleration, jerk).
See also "Drive-Internal Interpolation" in chapter "Operating Modes"
The value of P-0-0055, Return distance depends on the preceding sign,
i.e. positive return distance causes positive motion referring to the
coordinate system selected.
Note:
The value of P-0-0055, Return distance can be configured
and transmitted in the cyclic telegram (MDT).
The velocity profile is generated with the parameters
• P-0-0056, Return velocity and
• P-0-0057, Return acceleration.
In addition, the position command values can be smoothed by the
position command value average value filter, the order of the average
value filter being calculated from P-0-0057, Return acceleration and
P-0-0058, Return jerk.
Calculating P-0-0042, Current position command average value filter
order:
−
−
P
0
0042
After the drive has traveled the process block, i.e. after it moved to the
desired target position, the drive is torque-free. The process block is
considered to have been traveled when the following applies:
• target position = active position command value;
i.e. bit 12 S-0-0013, Class 3 diagnostics = 1
- and -
• v
= 0;
act
i.e. bit 1 in S-0-0013, Class 3 diagnostics = 1 (actual velocity smaller
than S-0-0124, Standstill window)
MPH-02, MPB-02, MPD-02
P
-
- 0
0057,
Return
accelerati
=
P
-
- 0
0058,
Return
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
on
jerk
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