Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 7

ECODRIVE03-FL*-04VRS
8.6 Vector Programming ................................................................................................................... 8-19
Manual Vector ........................................................................................................................ 8-19
Interrupt Vector ...................................................................................................................... 8-19
8.7 Multitasking ................................................................................................................................. 8-20
8.8 Master Encoder and motion type Cam ....................................................................................... 8-22
Overview ................................................................................................................................ 8-22
Slave Axis .............................................................................................................................. 8-24
Positioning Command Pxx with Pre-Set Cam ....................................................................... 8-25
Synchronization by Precise Positioning................................................................................. 8-26
Axis Motion with Cam Absolute Master Encoder (SSI) ......................................................... 8-30
Axis Motion with Cam (Incremental Master Encoder (optional Encoder 2)).......................... 8-31
8.9 Application: Flying Cutoff ............................................................................................................ 8-32
Parameters ............................................................................................................................ 8-33
User Program......................................................................................................................... 8-33
Immediate Cut / Cut Inhibit .................................................................................................... 8-34
Functions................................................................................................................................ 8-34
8.10 Control Loop Settings.................................................................................................................. 8-40
Setting the Current Controller ................................................................................................ 8-42
Setting the Velocity Loop ....................................................................................................... 8-42
Velocity Control Loop Monitoring ........................................................................................... 8-47
Setting the Position Controller ............................................................................................... 8-47
Position Control Loop Monitoring........................................................................................... 8-48
Setting the Acceleration Feedforward.................................................................................... 8-50
8.11 Mechanical Data ......................................................................................................................... 8-51
Mechanical Transmission Elements ...................................................................................... 8-51
Modulo Function .................................................................................................................... 8-52
8.12 Movement to Positive Stop ......................................................................................................... 8-53
8.13 Encoder Emulation...................................................................................................................... 8-54
Activating Encoder Emulation ................................................................................................ 8-55
Operating Principle: Incremental Encoder Emulation............................................................ 8-55
Diagnostic Messages with Incremental Encoder Emulation.................................................. 8-57
Operating principle: Absolute Encoder Emulation ................................................................. 8-58
8.14 Indexed Variables in NC Commands.......................................................................................... 8-60
8.15 Logic Task Controlled Diagnostics for Status Message 25 ........................................................ 8-63
8.16 PLS.............................................................................................................................................. 8-66
9 Parameters
9.1 Basic Information .......................................................................................................................... 9-3
Online Changeable Parameters .............................................................................................. 9-4
Input Unit.................................................................................................................................. 9-4
9.2 System Parameters....................................................................................................................... 9-5
A100 Application Type ........................................................................................................... 9-5
A101 Feed Constant .............................................................................................................. 9-6
A102 Gearing......................................................................................................................... 9-6
A103 Negative Position Limit................................................................................................. 9-7
A104 Positive Position Limit .................................................................................................. 9-7
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
V
Table of Contents
9-1