7-4 Operating Modes MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: When the positioning block mode is used for field buses in the
freely configurable operating mode (P-0-4084 = 0xFFFE) or
with SERCOS interface, the toggle mechanism is used in
spite of the above rule.
The explicit acknowledgment of the command value acceptance only
takes place for the positioning modes (drive-controlled positioning,
positioning block mode).
It is possible to check in the master whether and when the preset
command value was accepted in the drive (command value acceptance
handshake).
The command value acknowledgment is carried out in a different way,
according to the positioning mode:
• operating mode "drive-controlled positioning"
The drive acknowledges the command value acceptance by toggling
bit 0 in S-0-0419, Positioning command acknowledge.
• operating mode "positioning block mode"
The drive acknowledges the command value acceptance by displaying
the effective positioning block in P-0-4051, Positioning block
acknowledgment.
Note: In the positioning block mode, too, the acceptance of a new
positioning block causes bit 0 of S-0-0419 to be toggled,
because in this case the internal processing of the positioning
command values is identical to the "drive-controlled
positioning" mode.
7.2 Torque/Force Control
Brief Description
In the "torque/force control" mode a torque/force command value is
preset for the drive. If required this command value can be filtered. When
the operating mode is activated the diagnostic message is A0100 Drive
in TORQUE control.
command value processing
for torque/force control
DF0054v1.fh7
M
current controller
torque-
generating
current cmd value
torque/force
command value
Fig. 7-1: "Torque/force control" block diagram
Command Value
Acknowledgment
Base package of all variants with closed-loop characteristic
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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