Mannesmann ecodrive03 - A104 Position Mode Lagless, Encoder 1; A105 Position Control Lagless, Feedback 2; A106 Drive Controlled Interpolation, Encoder 1; A107 Drive Controlled Interpolation, Encoder 2

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4-34 Description of Diagnostic Letters B..., C..., D... and A... ECODRIVE03 SMT-02VRS

DOK-ECODR3-SMT-02VRS**-WA01-EN-P

A104 Position mode lagless, encoder 1

The drive is in position control mode. The position loop is closed in the

drive by a position encoder. The control system only sets the position

command value sequence; the drive follows the command value without

following error (lagless)

Encoder 1 indicates that the position encoder is installed on the motor

shaft (indirect measurement of axis position).

See also the functional description: "Operating Mode: Position Control".

A105 Position control lagless, feedback 2

The drive is in position control mode. The position loop is closed in the

drive by a position encoder. The control system only sets the position

command value sequence; the drive follows the command value without

following error (lagless).

Encoder 2 indicates that the position encoder is installed on the machine

axis (direct axis position measurement).

See also the functional description: "Operating Mode: Position Control".

A106 Drive controlled interpolation, encoder 1

The drive receives a position command value from the control system

which is identical to the target position of the travel path. Then the drive

generates (interpolates) an internal position command value sequence,

which uses the control system to maintain maximum values for jerk,

velocity and acceleration sequences.

The drive moves with a systematical lag (following error) to the target

position.