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MPH-02, MPB-02, MPD-02
Calculating the Internal Position
Command Value (Initialization)
Accessing the Cam Shaft Profile
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Depending on P-0-0061, Angle offset begin of profile, an interpolated
profile value is taken from the cam shaft profiles in every control cycle and
the difference to the last interpolated profile value is multiplied by the cam
shaft distance. The result is added to the position command value.
If P-0-0755, Gear reduction is unequal to zero, the master axis position
at the output of the electronic gear is additionally divided by the gear
reduction and multiplied by a scaling-dependent factor. The result is
differentiated and added to the position command value.
Note:
If the profile limit is exceeded in positive direction, the profile
continues with its first value, the same happens if the limit is
exceeded in negative direction.
Upon activation of the operating mode "Electronic cam shaft with
real/virtual master axis", the position command value of the drive is first
initialized in terms of the following relation:
G
a
ϕ
±
X
ϕ
=
(
h
*
tab(
*
F(
L)
L
G
e
X
:
position command value of slave drive (P-0-0434)
F
+/-:
master drive polarity (P-0-0108)
ϕ
resulting master axis position (P-0-0775)
:
L
ϕ
angle offset begin of profile (P-0-0061)
:
V
h:
cam shaft distance (P-0-0093 or P-0-0073)
tab(ϕ):
cam shaft profiles (P-0072, P-0-0092, P-0-0780, P-0-0781)
X
:
position command value additional (S-0-0048)
v
G
:
master drive gear output revolutions (P-0-0157)
a
G
:
master drive gear input revolutions (P-0-0156)
e
F:
fine adjust (P-0-0083)
U:
gear reduction (P-0-0755)
IWZ:
modulo actual value cycle
Fig. 7-91:
Initializing the position command value
Note:
With the operating mode activated, differences, that later on
will be added again, are processed in the electronic gear and
the cam shaft profiles. Therefore changes in the electronic
gear and the cam shaft distance do not cause position
command value jumps. Velocity jumps, however, can occur
and the absolute position reference established when
activating the operating mode is lost.
In every position loop cycle (advanced: T = 250 µs, basic: T = 500 µs) an
interpolated profile value is taken from the activated cam shaft profile, the
difference to the last interpolated profile value is generated and a
multiplication with the cam shaft distance is carried out. The result is
added to the position command value.
In parameter P-0-0088, Control word for synchronous operation
modes it is possible to set in bits 8 to 11, separately for each cam shaft
profile, whether linear fine interpolation or cubic spline interpolation is to
take place between the profile values.
Operating Modes
G
a
ϕ
ϕ
+
±
*
(1
F)
-
)
*
(
*
(1
L
V
G
e
7-117
ϕ
+
+
F)
-
/U
X
)
%
IWZ
)
V
V
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