Table of Contents
Advertisement
Description of Functions
9.7
Stepper motor control system
Overview
Actuation of the stepper drive for controlling the movement sequence takes place
by way of the signals "Pulse" (frequency) and "Direction". These signals are gener-
ated by a frequency generator in each operating mode of the FM 353. The pulse
width is a constant 50% of the period of the maximum frequency parameterized.
The diagram 9-6 gives you an overview of the function units and the machine data
acting upon them.
Interpolator
Setpoint
value
s
MD21 MD22
Enable servo controller
MD21 − Software limit switches, beginning
MD22 − Software limits switches, end
MD30 − Backlash compensation
MD31 − Directional reference of backlash
MD37 − Special control signals
MD39 − Start/Stop frequency
MD40 − Frequency value for acceleration switchover
MD41 − Maximum frequency
MD42 − Acceleration 1
MD43 − Acceleration 2
MD44 − Delay 1
MD45 - Delay 2
MD46 − Minimum idle time between two positioning cycles
MD47 − Minimum traversing time at constant frequency
Fig. 9-6
Overview of stepper motor control system
9-66
MD30, MD31
s
Backlash
compensation
v
t
Stepper mo-
tor control
Current-sourcing pattern zero or
zero pulse external
MD39...MD47
−
Direction
f generation
f
Pulse
t
Boost/PWM
Phase current
control
Servo ready
active/inactive high/low
X1
Peripherals
MD37
FM 353 Stepper Drive Positioning Module
X2
to the drive
6ES7 353-1AH01-8BG0
Hide quick links:
Advertisement
Table of Contents
