Position Control With Synchronous Set Value Specification - Baumuller b maXX BM3000 Operating Manual

4.8
Operating Modes
4.8.6

Position control with synchronous set value specification

The cyclic synchronous position set value specification is activated through operating
mode
every fieldbus cycle is interpolated in the control cycle. The interpolated set value is the
position set value for the position control.
The major functions are:
m Selection between two input channels for the position set value to be interpolated:
m Each of the two input channels has one offset input additionally:
m The input set value
m Additional input as offset speed Z136.7–. The function can thereby be tested without
m Optional speed actual value synchronization when activating the operating mode.
m Optional extrapolation during set value failure.
m Evaluation of software limit switches possible  Activation, refer to Z121.1–.
m Evaluation of hardware limit switches possible  Activation, refer to Z121.1–.
m Stop possible through control word Bit 8 of the drive manager.
m Set values can be blocked through the control word Bit 11 of the drive manager.
m Display of current output set values: Acceleration, speed and position.
m Bipolar limiting of output speed through Parameter Z121.11–.
m Interpolation of the fieldbus set value for the cycle of the position control
m The set fieldbus cycle time
m The interpolation interval can be extended through the factor in Parameter
m PT
m An external, cyclical specification of the speed and acceleration feedforward values
616 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
Z109.1–
= -4. In this operating mode, the position set value that is transferred in
Z136.3–
– Set value in the format 16 bit revolutions and 16 bit angle
Z136.5–
– Set value in the format 32 bit angle
Z136.4–
– Position offset in the format 16 bit revolutions and 16 bit angle
Z136.6–
– Angle offset in the format 32 bit angle
Z136.3–
function block (Z136.2–
"Weighting" and contains these functions:
– Weighting function
The set value can be weighted by the
– Load gear 
Furthermore an available load gear can be regarded by the parameters
Input revolutions and
– Modulo position set value 
The set value can be used as modulo positioning set value. This function is activated
Z121.15–
by Modulo revolutions > 0.
Z136.2–
For details refer to
cyclical set value specifications through the fieldbus.
cycle time.
Mode in Bit 12 and 13. The following applies: 
Interpolation interval = Factor * Fieldbus cycle. 
Factors 1, 2, 4 and 8 are possible. From the factor value 2 onward the
sion ratio fieldbus task must have been set to 1!
filter for smoothing the transferred position set value
1
takes place. For details see Z111.7–,
and its positioning offset
mode bit 6 = 1). In the following this function block refers to as
Z121.16–
Z121.14–
Output revolutions.
Mode with bit 6 and
Z131.18–
is used as the interpolation interval.
Z111.8–
Z136.4–
can pass an additional
Rotation position resolution.
ZFig. 208–
on page 617.
Z131.20–
and Z18.9–.
Baumüller Nürnberg GmbH
Z121.13–
(Z1.8– RT0
Z136.2–
divi-