Referencevalue
P 0165
-OFF (0)
-ANA0 (1)
-ANA0 (2)
-Tab (3)
-leer (4)
-iPLC (5)
-PARA (6)
-CiA DS402 (7)
-SERCOS (8)
-PROFIBUS (9)
-VARAN (10)
Normalization
-DS402
-SERCOS
-User-specific
Interpolation
IP-Mode
Lineare
Interpolation
Referencevalue
Speed control
Referencevalue
Userunit
Referencevalue
Increments
Samplingtime
1 ms
Samplingtime
≥ 125 µs
Image 8.28: Speed control in IP mode (Motion Profile subject area)
NOTE
l
Linear interpolation is always applied in speed-controlled mode.
Pre-control is not active.
8.3.4 IP mode with position control
l
Position reference values are preset by a higher-level PLC with an
appropriate sampling time.
l
The sampling time must be balanced between the PLC and controller
P 0306 CON_IpRefTS
.
l
The position references are then transferred to the fine interpolator.
l
Pre-control values for speed and acceleration are switched to the control
loops.
l
For more information on the cycle time see the field bus documentation.
ID No.: 0842.26B.5-01 Date: 09.2020
ServoOne - Device Help
247
8 Motion profile
Image 8.29: Position control in IP mode (Motion Profile subject area)
NOTE
l
In linear interpolation the pre-control is ignored.
8.3.5 Jerk limitation and speed offset
8.3.5.1 Jerk limitation (Profile mode)
The transfer path from the motor to the mechanism may be elastic and so
susceptible to oscillation. For that reason, it is advisable to also limit the maximum
rate of change of the torque and thus the jerk. Due to the jerk limitation the
acceleration and deceleration times rise by the smoothing P 166[0] - MPRO_REF_
JTIME. The smoothing setting box appears on-screen as soon as the profile type P
2243[0] - MPRO_402_MotionProf type is set to JerkLin(3).
8.3.5.2 Speed offset (limitation)
With speed override P 167[0] - MPRO_REF_OVR the maximum preset speed
reference is scaled in percent.
