Table of Contents
Advertisement
7-14
Operating Modes
Notes on Commissioning
Example of Application
Inputting or Selecting the Velocity Command Value
Apart from the cyclic velocity command value (S-0-0036), the drive can be
moved with fixed constant velocity command values stored in the drive.
Selecting preset fixed command values can be effectively used for
applications with analog or parallel interface with which the drive is moved
with constant velocity steps (e.g. jogging forward/backward, feeding,
setting up, washing, ...) that are to be selected via switches/pushbuttons.
The velocity steps (max. 5 values) provided for this purpose can be
entered in the list parameter P-0-1206 and each of them can be
individually activated via the bits 0...4 of the control word P-0-1200. The
figure below illustrates the interaction of the parameters:
P-0-1200
4
S-0-0036
S-0-0036:
velocity command value
P-0-1200:
control word of velocity control mode
P-0-1206:
memory of velocity command values
Fig. 7-8:
Selecting the internally stored velocity command values
Note:
If one of the bits 0...4 has been set in P-0-1200, the cyclically
preset velocity command value (S-0-0036) is no longer
transmitted, but the fixed command value activated via the bit
takes effect.
Velocity Mixing
Via P-0-1119, Velocity mix factor feedback 1 & 2 it is possible to mix
the different actual encoder values in the case of control-related stability
problems.
Acceleration Feedforward
To improve the control performance it is possible to add the speed
command value, bypassing the velocity loop, to the velocity loop output in
a derivative way and scaled via P-0-1126, Velocity control loop:
acceleration feedforward. This differentiated command value can also
be smoothed by means of a PT1 filter (cf. P-0-0180).
This kind of feedforward allows achieving sufficiently good and dynamic
control performance, even with bad measuring systems or a very high
degree of load inertia (or mass).
See also "Axis Control: Control Loop Structure" in chapter "Drive Control"
MPH-02, MPB-02, MPD-02
0
switching to fixed
command values;
5 switches can be
selected via control
word
P-0-1206
fixed value 1
bit 0
fixed value 2
bit 1
fixed value 3
bit 2
fixed value 4
bit 3
fixed value 5
bit 4
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
DF000126v01_en.fh7
Advertisement
Table of Contents
