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7-118
Operating Modes
Calculating the Internal Position
Command Value
(in Cyclic Operation)
Scaling of Data
Note:
With an infinite cam shaft the difference between initial value
and final value of the cam shaft profile is 100%.
Note:
For constantly fault-free processing of the position data with
infinitely turning axes, the values resulting from gear reduction
(P-0-0755 ≠ 0) must be used for forward motion. A finite cam
shaft profile can be superimposed. When using an infinite cam
shaft profile (difference between first and last profile value
> 50%), a small error can occur with each profile sequence.
Exception: Cam shaft distance corresponds to modulo value
(S-0-0103).
The position command value is generated as per the following relation:
+
X
=
X
(h
*
WDE
ϕ
ϕ
F(n)(
L)
F(n
-1)(
L)
X
:
position command value of slave drive (P-0-0434)
F
+/-:
Master drive polarity (P-0-0108)
ϕ
dynamic angle offset (P-0-0085)
:
d
ϕ
resulting master drive position (P-0-0775)
:
L
ϕ
angle offset begin of profile (P-0-0061)
:
V
h:
cam shaft distance (P-0-0093 or P-0-0073)
tab(ϕ):
cam shaft profiles (P-0072, P-0-0092, P-0-0780, P-0-0781)
X
:
position command value additional (S-0-0048)
v
G
:
master drive gear output revolutions (P-0-0157)
a
G
:
master drive gear input revolutions (P-0-0156)
e
F:
fine adjust (P-0-0083)
U:
gear reduction (P-0-0755)
IWZ:
modulo actual value cycle
Fig. 7-92:
Cyclically generating the position command value for the slave drive
Notes on Commissioning/Parameterization
General Parameterization
During general parameterization it is necessary to make machine-specific
presettings:
Scaling of parameter data (linear or rotary):
• S-0-0076, S-0-0077, S-0-0078 and S-0-0079 for position data
• S-0-0044, S-0-0045 and S-0-0046 for velocity data
• S-0-0160, S-0-0161 and S-0-0162 for acceleration data
See "Mechanical Axis System and Measuring Systems: Scaling of
Physical Data" in chapter "Motor, Mechanical Axis System, Measuring
Systems"
MPH-02, MPB-02, MPD-02
G
G
a
a
ϕ
ϕ
ϕ
ϕ
±
±
*
-
+
)
*
(
L
V
d
L
G
G
e
e
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
ϕ
+
+
)
%
IWZ
*
(1
F)
-
/U
X
V)
v
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