7-12 Operating Modes MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Ramp Generator
The increase (acceleration) and deceleration of the velocity command
value can be limited in steps via 2 ramps.
• Acceleration process:
In the first step, the increase of the command value is limited via
P-0-1201, Ramp 1 pitch (acceleration ramp 1).
If the command velocity exceeds the threshold entered in parameter
P-0-1202, Final speed of ramp 1, the increase of the command value
is limited with the value P-0-1203, Ramp 2 pitch (acceleration
ramp 2).
• Deceleration or braking process:
Parameters P-0-1211, Deceleration ramp 1 or P-0-1213,
Deceleration ramp 2 are used accordingly for deceleration.
Note: This allows parameterizing different ramps for the acceleration
and braking process.
When there is acceleration-dependent torque limitation occurring or due
to installation-dependent failures/irregularities it is necessary to interrupt
the acceleration ramp. For this purpose the function "run-up stop" was
introduced that is controlled via P-0-1200, Control word of velocity
control mode.
Possibilities of setting for activating the function "run-up stop" via the
respective bits of P-0-1200:
• activation of the function without additional condition
• triggering of torque limitation E2060
• triggering of command value limitation (cf. S-0-0091)
• triggering of command value or torque limitation
Note: While a speed masking window is passed, the function "run-up
stop" is deactivated.
Jerk Limitation
The velocity command value, the increase and maximum of which are
limited, is jerk-limited by means of a moving average filter (P-0-1222,
Velocity command filter).
Command Value Limitation
The effective velocity command value (sum of S-0-0036 and S-0-0037) is
limited to the value indicated in S-0-0091, Bipolar velocity limit value.
Note: When the limitation takes effect, the drive generates the
message E2059 Velocity command value limit active.
Fine Interpolation
The limited command value available at the output of command value
processing can be adjusted, by means of linear fine interpolation, for
further processing in the velocity loop. To do this a command value input
in the position loop clock is fine interpolated in the velocity loop clock.
This function has to be activated via bit 0 of P-0-0556, Control word of
axis controller.
Run-Up Stop
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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