Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 1074

AKD Benutzerhandbuch | 24.37.3 SM.MODE
SM.MOD-
E
0
1
2
Ramps
The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2
(closed position). The drive does not generate any ramps in service motion mode 0 and 1.
Service Motion for DRV.OPMODE 0 and SM.MODE 1
Description
Constant motion in closed current loop mode of operation.
DRV.OPMODE 0:
l
The drive generates a constant current command value
(SM.I1) for a certain amount of time (if SM.T1>0) or end-
less (if SM.T1=0). The drive will not generate any
ramps in this mode of operation.
DRV.OPMODE 1 or 2:
l
The drive generates a constant velocity command
value (SM.V1) for a certain amount of time (if
SM.T1>0) or endless (if SM.T1=0). The drive gen-
erates acceleration and deceleration ramps according
to the DRV.ACC and DRV.DEC setting in this mode of
operation.
The service motion can be stopped by using the DRV.STOP
command.
DRV.OPMODE 0:
l
The drive generates a current command value (SM.I1)
for a certain amount of time (SM.T1). Afterwards the
drive generates a current command value (SM.I2) for
another certain amount of time (SM.T2). This sequence
is repeated as long as a DRV.STOP command occurs.
The drive will not generate any ramps in this mode of
operation.
DRV.OPMODE 1 or 2:
l
The drive generates a velocity command value
(SM.V1) for a certain amount of time (SM.T1). After-
wards the drive generates a velocity command value
(SM.V2) for another certain amount of time (SM.T2).
This sequence is repeated as long as a DRV.STOP
command occurs. The drive will generate an accel-
eration and deceleration ramps according to the
DRV.ACC and DRV.DEC setting in this mode of oper-
ation.
This mode executes the same service motion as mode 0.
However, the motion is described by SM.I2, SM.T2 and
SM.V2. This enables a change on the fly and is mostly used
under fieldbus control.
Requirements
DRV.OPMODE =
0,1, or 2
DRV.CMDSOUR-
CE = 0
DRV.OPMODE =
0, 1, or 2
DRV.CMDSOUR-
CE = 0
DRV.OPMODE =
0, 1, or 2
DRV.CMDSOUR-
CE = 0
KOLLMORGEN | Mai 2014 1074