Operating Modes
Parameter manual b maXX BM3000
Document no.: 5.12001.07 Baumüller Nürnberg GmbH
616
of 820
4.8
4.8.6 Position control with synchronous set value specification
The cyclic synchronous position set value specification is activated through operating
mode
Z109.1– = -4. In this operating mode, the position set value that is transferred in
every fieldbus cycle is interpolated in the control cycle. The interpolated set value is the
position set value for the position control.
The major functions are:
m Selection between two input channels for the position set value to be interpolated:
– Z136.3– Set value in the format 16 bit revolutions and 16 bit angle
– Z136.5– Set value in the format 32 bit angle
m Each of the two input channels has one offset input additionally:
– Z136.4– Position offset in the format 16 bit revolutions and 16 bit angle
– Z136.6– Angle offset in the format 32 bit angle
m The input set value Z136.3– and its positioning offset Z136.4– can pass an additional
function block (Z136.2– mode bit 6 = 1). In the following this function block refers to as
"Weighting" and contains these functions:
– Weighting function
The set value can be weighted by the Z121.16– Rotation position resolution.
– Load gear
Furthermore an available load gear can be regarded by the parameters Z121.13–
Input revolutions and Z121.14– Output revolutions.
– Modulo position set value
The set value can be used as modulo positioning set value. This function is activated
by Z121.15– Modulo revolutions > 0.
For details refer to Z136.2– Mode with bit 6 and ZFig. 208– on page 617.
m Additional input as offset speed Z136.7–. The function can thereby be tested without
cyclical set value specifications through the fieldbus.
m Optional speed actual value synchronization when activating the operating mode.
m Optional extrapolation during set value failure.
m Evaluation of software limit switches possible Activation, refer to Z121.1–.
m Evaluation of hardware limit switches possible Activation, refer to Z121.1–.
m Stop possible through control word Bit 8 of the drive manager.
m Set values can be blocked through the control word Bit 11 of the drive manager.
m Display of current output set values: Acceleration, speed and position.
m Bipolar limiting of output speed through Parameter Z121.11–.
m Interpolation of the fieldbus set value for the cycle of the position control (Z1.8– RT0
cycle time.
m The set fieldbus cycle time Z131.18– is used as the interpolation interval.
m The interpolation interval can be extended through the factor in Parameter Z136.2–
Mode in Bit 12 and 13. The following applies:
Interpolation interval = Factor * Fieldbus cycle.
Factors 1, 2, 4 and 8 are possible. From the factor value 2 onward the Z131.20– divi-
sion ratio fieldbus task must have been set to 1!
m PT
1
filter for smoothing the transferred position set value
m An external, cyclical specification of the speed and acceleration feedforward values
takes place. For details see
Z111.7–, Z111.8– and Z18.9–.
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