Table of Contents
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1-26
System Overview
Firmware type →
Functions of the base
packages
torque/force control
velocity control
position control
Operating
modes
drive-internal interpolation
drive-controlled positioning
positioning block mode
Drive Halt
travel range limit switch
position limit values
software limit switch)
Drive
functions
detecting marker position
positive stop drive procedure
drive-controlled homing
setting absolute measuring
E-Stop function
torque disable
Error
v
set to zero
cmd
reactions
("emergency halt")
v
set to zero with ramp and
cmd
filter ("quick stop")
analog I/Os (on basic device or
optional module)
Expanded
digital I/Os (on basic device or
drive
optional module)
functions
encoder emulation
position switch points
MMC support
firmware handling
standard control panel
Handling,
diagnosis,
scaling/standardization
service
option. parameteriz. interface
oscilloscope feature
patch function
FWA-INDRV*-MPB-
02VRS
(Basic single-axis)
without
with encoder
encoder
(closed-loop)
(open-loop)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
1)
1)
X
X
1)5)
1)5)
X
X
1)
X
X
3)
3)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
1)
depending on hardware configuration
max. 24 byte MDT/AT data per axis and min. Tscyc = 1000 µs
2)
3)
only with control section "BASIC UNIVERSAL"
4)
brake check and brake abrasion not possible
5)
no digital I/Os on optional module for basic design
Fig. 1-8:
Scope of functions of the basic firmware packages (continuation)
MPH-02, MPB-02, MPD-02
FWA-INDRV*-MPD-
02VRS
(Basic double-axis)
(Advanced single-axis)
without
with encoder
encoder
encoder
(closed-loop)
(open-loop)
(open-loop)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
1)
1)
X
X
1)5)
1)5)
X
X
1)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
FWA-INDRV*-MPH-
02VRS
without
with encoder
(closed-loop)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
1)
1)
X
X
1)
1)
X
X
1)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
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