MPH-02, MPB-02, MPD-02 Drive Control 6-63
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
value 1 and the actual position value 2, in cyclic operation (phase 4),
are monitored for a maximum allowed actual position value difference
indicated in parameter S-0-0391, Monitoring window feedback 2. If
the absolute value of the difference is greater than the value of the
monitoring window, the F2036 Excessive position feedback
difference error message is generated.
• The output of the position loop (P-0-0048) is limited to a maximum
absolute velocity value. The output signal of the position loop is a
velocity command value that already contains the additive component
for velocity feedforward, plus a possibly preset additive velocity
command value (S-0-0037). The limitation therefore has an effect on
the sum of the different command values.
6.5 Limitations
Overview
Limitations in Open-Loop Operation (U/f Operation)
To protect the device or motor the following parameterizable limitations
have been implemented in open-loop operation:
• current and torque limitation
• current limitation
• torque/force limitation
• stall protection loop for current limitation
• current limitation loop
• position limitation
• travel range limit switch
• software limit switch
Limitations in Closed-Loop Operation
To protect the device or motor the following parameterizable limitations
have been implemented in closed-loop operation:
• current and torque limitation
• current limitation
• torque/force limitation
• velocity limitation
• position limitation
• travel range limit switch
• software limit switch
Limiting the Velocity Command
Value
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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