MPH-02, MPB-02, MPD-02 Operating Modes 7-29
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
• acceleration and deceleration ramps can be set separately (S-0-0260,
Positioning acceleration or S-0-0359, Positioning deceleration)
• considering position limit values when accepting target position,
positioning velocity and positioning acceleration
• infinite travel positive or negative
• residual path processing can be activated
• "on-the-fly acceptance" of the new target position or intermediate stop
Note: In this operating mode it is possible to separately parameterize
the acceleration and deceleration processes in order to
achieve optimum adjustment to the respective application-
specific requirements.
Pertinent Parameters
• S-0-0108, Feedrate override
• S-0-0193, Positioning Jerk
• S-0-0258, Target position
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0282, Positioning command value
• S-0-0342, Target position reached
• S-0-0343, Status "Interpolator halted"
• S-0-0346, Positioning control word
• S-0-0359, Positioning deceleration
• S-0-0393, Command value mode
• S-0-0417, Velocity threshold for positioning in modulo format
• S-0-0418, Target position window in modulo format
• S-0-0419, Positioning command acknowledge
• S-0-0430, Effective target position
• S-0-0437, Positioning status word
• P-0-0434, Position command value controller
Pertinent Diagnostic Messages
• A0150 Drive controlled positioning, encoder 1
• A0151 Drive controlled positioning, encoder 1, lagless
• A0152 Drive controlled positioning, encoder 2
• A0153 Drive controlled positioning, encoder 2, lagless
• E2047 Interpolation velocity = 0
• E2048 Interpolation acceleration = 0
• E2049 Positioning velocity >= S-0-0091
• F2050 Overflow of target position preset memory
• E2053 Target position out of travel range
• E2055 Feedrate-override S-0-0108 = 0
• E2064 Target position out of num. range
Courtesy of CMA/Flodyne/Hydradyne ▪ Motion Control ▪ Hydraulic ▪ Pneumatic ▪ Electrical ▪ Mechanical ▪ (800) 426-5480 ▪ www.cmafh.com
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