Bosch PIN8 N1 Guía para resolver problemas descargar pdf (Pagina 334)

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101

7-28 Operating Modes MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P

7.6 Drive-Controlled Positioning

Brief Description

The operating modes "drive-internal interpolation" and "drive-controlled

positioning" allow time-optimized positioning of a single axis. The "drive-

internal interpolation" mode is the basis for the more comprehensive

functionality of the "drive-controlled positioning" mode.

In the "drive-controlled positioning" mode a positioning command value is

preset for the drive. The drive can continue processing this value

internally in absolute (position target) or relative (travel distance) form. In

the internal interpolator, a position command value characteristic is

generated as the input value for the position loop from the preset

positioning data (effective target position, velocity, acceleration and jerk).

There are different forms of the "drive-controlled positioning" mode which

result in the corresponding diagnostic messages when the operating

mode was activated (see "Pertinent Diagnostic Messages").

torque/force

command value

velocity

command value

effective

position command

value

positioning

cmd value

DF0056v1.fh7

command value

adjustment

for positioning

velocity loop

current loopposition loop

Fig. 7-16: "Drive-controlled positioning" block diagram

• processing of an absolute target position or a relative travel distance

• drive-internal generation of a position command value profile for

moving to the target position

(S-0-0258) specified by parameter

S-0-0282, Positioning command value, complying with the

adjustable positioning velocity (S-0-0259) and positioning acceleration

(S-0-0260) or positioning deceleration (S-0-0359); can be set

separately

• edge-controlled acceptance of the positioning command value via

toggle bit (S-0-0346, bit 0)

• jerk limitation of the generated position command value with

parameter S-0-0193, Positioning Jerk

• evaluation of the positioning velocity with parameter S-0-0108,

Feedrate override

• monitoring the positioning velocity for exceeding parameter S-0-0091,

Bipolar velocity limit value

• monitoring the target position for observing the position limit values (cf.

S-0-0049, Positive position limit value, S-0-0050, Negative

position limit value)

• command value mode can be set in modulo format in parameter

S-0-0393, Command value mode (shortest distance, positive only or

negative only direction, no reversal of direction of rotation)

• 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]

Features

Base package of all variants in closed-loop characteristic

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Bosch PIN8 N1 Guía para resolver problemas Pagina 334

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