Bosch PIN8 N1 Průvodce řešením problémů stáhnout pdf (Strana 472)

100

101

8-40 Drive Functions MPH-02, MPB-02, MPD-02

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

See also "General Information on the Operation of Motors with IndraDrive:

Motor Holding Brake" in chapter "Motor, Mechanical Axis System,

Measuring Systems"

Return Motion

Note: The error reaction "return motion" can only be used for

operation with encoder (closed-loop) and when the expansion

package "servo function" has been enabled!

If return motion was entered as the "best possible deceleration", the drive

generates a position command value profile in order to travel the

desired distance in the case of error. This means that a relative process

block is activated in the case of error.

With the "drive-internal interpolation" mode, the position command value

profile is generated internally by means of predefined travel block data

(velocity, acceleration, jerk).

See also "Drive-Internal Interpolation" in chapter "Operating Modes"

The value of P-0-0055, Return distance depends on the preceding sign,

i.e. positive return distance causes positive motion referring to the

coordinate system selected.

Note: The value of P-0-0055, Return distance can be configured

and transmitted in the cyclic telegram (MDT).

The velocity profile is generated with the parameters

• P-0-0056, Return velocity and

• P-0-0057, Return acceleration.

In addition, the position command values can be smoothed by the

position command value average value filter, the order of the average

value filter being calculated from P-0-0057, Return acceleration and

P-0-0058, Return jerk.

Calculating P-0-0042, Current position command average value filter

order:

jerk Return 0058,-0-P

onaccelerati Return0057,-0-P

00420P =−−

After the drive has traveled the process block, i.e. after it moved to the

desired target position, the drive is torque-free. The process block is

considered to have been traveled when the following applies:

• target position = active position command value;

i.e. bit 12 S-0-0013, Class 3 diagnostics = 1

- and -

• v

act

= 0;

i.e. bit 1 in S-0-0013, Class 3 diagnostics = 1 (actual velocity smaller

than S-0-0124, Standstill window)

P-0-0119 = 3

Generating the Position

Command Value Profile

Status Messages for

Acknowledgment

1 2 ... 467 468 469 470 471 472 473 474 475 476 477 ... 727 728

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