A108 Drive Controlled Interpolation, Lagless, Encoder 1; A109 Drive Controlled Interpolation, Lagless, Encoder 2; A110 Velocity Synchronization, Virtual Master Drive; A111 Velocity Synchronization, Real Master Drive - REXROTH ECODRIVE03 Troubleshooting Manual

ECODRIVE03-SGP-03VRS

A108 Drive controlled interpolation, lagless, encoder 1

A109 Drive controlled interpolation, lagless, encoder 2

A110 Velocity synchronization, virtual master drive

A111 Velocity synchronization, real master drive

DOK-ECODR3-SGP-03VRS**-WA01-EN-P
Description of Diagnostic Messages B...; C..., D... and A
velocity and acceleration sequences. The drive moves with a systematical
lag (following error) to the target position. Encoder 2 indicates that the
position encoder is installed on the machine axis (direct axis position
measurement).
See also the functional description: "Operating Mode: Drive Internal
Interpolation".
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 without following error (lagless) to the target position.
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).
See also the functional description: "Operating Mode: Drive Internal
Interpolation".
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 without following error (lagless) to the target position.
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).
See also the functional description: "Operating Mode: Drive Internal
Interpolation".
The drive is in velocity control. The command velocity is determined in
the drive taking the ratio as well as master axis position into account.
Virtual master axis means that the master axis position is computed by
the control.
See also the functional description:
synchronization with virtual master axis"
The drive is in speed control. The speed command value is derived from
the master axis position. The master axis position is generated from the
incremental encoder signals of the master axis encoder inputs.
See also the functional description:
synchronization with real master axis"
"Operating mode: Velocity
"Operating mode: Velocity
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