REXROTH ECODRIVE03 User Manual

ECODRIVE03-SGP-03VRS Description of Diagnostic Messages B…; C…, D… and A 5-37
DOK-ECODR3-SGP-03VRS**-WA01-EN-P
A150 Drive controlled positioning, encoder 1
In the S-0-0282, Positioning command parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Positioning command latch parameter is toggled, this distance is
summed up to the value in S-0-0258, Target position. In order to get
from the current position to the new target position, the drive now
generates (interpolates) an internal position command value curve. This is
done taking the limit values of velocity, acceleration, and jerk in the
parameters
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0193, Positioning Jerk
into account.
The drive approaches the target position with a position lag that is
proportional to the velocity. Encoder 1 means that the position encoder
that is attached to the load is used for closing the position control loop
(direct axis position measurement).
See also the functional description: "Operating Mode: Drive Controlled
Positioning".
A151 Drive controlled positioning, encoder 1, lagless
In the S-0-0282, Positioning command parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Positioning command latch parameter is toggled, this distance is
summed up to the value in S-0-0258, Target position. In order to get
from the current position to the new target position, the drive now
generates (interpolates) an internal position command value curve. This is
done taking the limit values of velocity, acceleration, and jerk in the
parameters
• S-0-0259, Positioning Velocity
• S-0-0260, Positioning Acceleration
• S-0-0193, Positioning Jerk
into account.
Encoder 1 means that the position encoder that is attached to the load is
used for closing the position control loop (direct axis position
measurement).
See also the functional description: "Operating Mode: Drive Controlled
Positioning".
A152 Drive controlled positioning, encoder 2
In the S-0-0282, Positioning command parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Positioning command latch parameter is toggled, this distance is
summed up to the value in S-0-0258, Target position. In order to get
from the current position to the new target position, the drive now
generates (interpolates) an internal position command value curve.

REXROTH ECODRIVE03 Specifications

General

Brand	REXROTH
Model	ECODRIVE03
Category	Controller
Language	English