8400 HighLine | Parameter setting & configuration
Basic drive functions (MCK)
Internal interfaces | System block "LS_MotionControlKernel"
364 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010
8.2 Internal interfaces | System block "LS_MotionControlKernel"
In the Function Block editor, the system block LS_MotionControlKernel provides the
interfaces to the Motion Control Kernel.
Inputs
Identifier
Data type
Information/possible settings
Control and setpoint signals for motor control
The purpose of the following inputs is to transfer control signals and setpoints to the internal motor control
function (LS_MotorInterface
).
bPosCtrlOn
BOOL
Activation of position/angle control
FALSE Position/angle control deactivated.
TRUE Position/angle control activated.
bDeltaPosOn
BOOL
Activate position difference as setpoint selection
• In order to position the motor shaft, the position control function can work
within the motor control function with the absolute position setpoint
dnPosSetValue_p or alternatively with the speed setpoint nSpeedSetValue_a and
the position difference dnDeltaPos_p.
FALSE Positioning with position setpoint dnPosSetValue_p.
TRUE Positioning with speed setpoint nSpeedSetValue_a and position
difference dnDeltaPos_p.
dnDeltaPos_p
DINT
Position difference (following error input)
• Difference between setpoint position and actual position in [increments]
• Is use for position control if bDeltaPosOn = TRUEt.
• Scaling: 65535 ≡ 1 revolution
dnPosSetValue_p
DINT
Absolute position setpoint in [increments]
• Is used in the case of bDeltaPosOn = FALSE.
• Scaling: 65535 ≡ 1 revolution
bPosDerivativeOn
BOOL
Activate feedforward control of speed controller
• For highly dynamic control systems, feedforward control of the speed controller
can be switched on. For this purpose, the absolute position setpoint
dnPosSetValue_p must be differentiated and fed in behind the speed controller.
TRUE Differentiation of the position setpoint and limitation to
65536 increments/ms.
• The differentiated value is transferred to the speed control as an
alternative to the speed setpoint. Hence, a speed setpoint is
internally differentiated from the setpoint position and internally
generated.
bMotorRefOffsetOn
BOOL
In preparation - Input has no function at present time!
Adopt home position ("Homing on the fly")
FALSEÊTRUE Adopt home positionReferenzposition dnMotorRefOffset_p.
dnMotorRefOffset_p
DINT
Home position in [increments]
• Value is adopted when control bit 9 ("HomeSetPos") is set from "0" to "1" in the
MCK control word
and is sent to the motor control function via the
dnMotorRefOffset_p_ output.
• Transfer is possible in any operating mode ("Homing on the fly").
• For this function, the two outputs bMotorRefOffsetOn_ and
dnMotorRefOffset_p_ must be connected to the inputs of the same name of
the LS_MotorInterface
system block.
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