8.11.6 Engagement
P 253[0] - MPRO_ECAM_Egear_GearInMode is used to define the mode for
engagement.
DIRECT (0) = Direct
Direct engagement: Angular synchronous; with jerking (no ramps).
RAMP (1) = Linear speed ramp
Engagement with linear acceleration: Not angular synchronous; with jerking.
P 255[0]
(see below) can be used to define the acceleration.
FADE (2) = Engagement fade-out
Engagement with fade-out function (5th degree polynomial): Not angular
synchronous; jerk-limited. The position is ignored. There always remains a
variation between reference and actual position.
P 257[0]
(see below) is
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD
Servo
Drive -
Device
Help
22
6
8 Motion profile
used to define the engagement distance (between the dashed lines).
CROSSFADE (3) = Crossfading
Engagement with crossfading function (5th degree polynomial): Angular
synchronous; jerk-limited; speed will overshoot during engagement.
P 255[0] - MPRO_ECAM_Egear_GearInAcc is used to define the acceleration for
the "RAMP (1)” mode.
P 257[0] - MPRO_ECAM_Egear_GearInDist is used to define the engagement
distance. The actual engagement occurs within this range (between the dashed
lines).
