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7-22
Operating Modes
command value
target
adjustment for inter-
position
polation
Features
There are different forms of the "drive-internal interpolation" mode which
result in the corresponding diagnostic messages when the operating
mode was activated (see "Pertinent Diagnostic Messages").
position loop
effective
velocity
position
command value
command value
Fig. 7-12:
"Drive-internal interpolation" block diagram
• drive-internal generation of a position command value profile for
moving to the target position
positioning velocity (S-0-0259) and positioning acceleration (S-0-0260)
or positioning deceleration (S-0-0359); can be set separately
• jerk limitation of the generated position command value via S-0-0193,
Positioning Jerk
• evaluation of the positioning velocity with S-0-0108, Feedrate override
• monitoring the positioning velocity for exceeding S-0-0091, Bipolar
velocity limit value
• monitoring the target position for maintaining position limit values
• command value mode in modulo format (shortest distance, only
positive or only negative direction) can be set in S-0-0393, Command
value mode
• position control with regard to S-0-0051, Position feedback 1 value
(motor encoder) or S-0-0053, Position feedback 2 value [external
(load-side) encoder]
• acceleration and deceleration ramps can be set separately
• no change in direction of movement when command value mode in
modulo format equal "shortest distance", if v
• shortest distance when "command value mode in modulo format"
equal "only positive/negative direction of movement" and target
position within S-0-0418, Target position window in modulo format
Note:
In this operating mode it is possible to separately parameterize
the acceleration and deceleration processes. This allows
optimum adjustment to the respective application-specific
requirements.
Pertinent Parameters
• S-0-0108, Feedrate override
• S-0-0193, Positioning jerk
• S-0-0258, Target position
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0342, Target position reached
• S-0-0343, Status "Interpolator halted"
• S-0-0359, Positioning Deceleration
MPH-02, MPB-02, MPD-02
velocity loop
current loop
torque/force
command value
S-0-0258) complying with the adjustable
(
> S-0-0417
act
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
M
DF0055v1.fh7
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