Moog MSD Benutzerhandbuch Seite 56

moog
Struktur der Betriebsart
[position
target_position
Function
(607Ah) units]
positio_range_limit (607Bh)
software_position_limit
(607Dh)
home_offset (607Ch)
profile_velocity
[speed units]
(6081h)
end_velocity
[speed units]
(6082h)
max_profile_velocity
[speed units]
(607Fh) Minimum
Comparator
max_motor_speed
Multiplier
(6080h)
velocity_factor_1
(6095h)
profile_acceleration
[acceleration units]
(6083h)
profile_deceleration
[acceleration units]
(6084h)
quick_stop_deceleration
[acceleration units]
(6084h)
Bild 8.3 Struktur Profile Position Mode
Limit
Multiplier position
position_factor
(6093h)
polarity (607Eh)
Limit Function
velocity
velocity
limit
Limit Function acceleration
max_acceleration
(60C5h)
max_deceleration
(60C8h)
MSD Servo Drive Benutzerhandbuch CANopen/EtherCAT
Betriebsartspezifische Bits im Steuerwort
Bit 4 - new Setpoint
Bit 5 - Change set immediately
Bit 6 - abs / rel
Bit 8 - Halt
Bit Name Wert
4 New set-point
Change Set
5
immediately
6 abs / rel
8 Halt
Tabelle 8.15 Profile Position Mode Bits im Steuerwort
Betriebsartspezifische Bits im Statuswort
Bit 10 - Target reached
Bit 12 - Set-point acknowledge
Bit 13 - Following error
Bit 14 - ROT_0
Bit Name Wert
Target
10
reached
Set-point
12
acknowledge
Tabelle 8.16 Profile Position Mode Bits im Statuswort
Beschreibung
0 Does not assume target position
1 Assume target position
Finish the actual positioning and then start
0
the next positioning
Interrupt the actual positioning and start
1
the next positioning
0 Target position is an absolute value
1 Target position is a relative value
0 Execute positioning
Stop axle with profile deceleration (if not
1
supported with profile acceleration)
Beschreibung
Halt = 0: Target position not reached
0
Halt = 1: Axle decelerates
Halt = 0: Target position reached
1
Halt = 1: Velocity of axle is 0
Trajectory generator has not assumed the
0
positioning values (yet)
Trajectory generator has assumed the
1
positioning values
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