Lenze EVS9332xP Manual do Utilizador descarregar pdf (Página 86)

Function library

Positioning control

3.4.9 Travel profile generator and setpoints

3−58

EDSVS9332P−EXT DE 2.0

3.4.9 Travel profile generator and setpoints

9300POS024

P O S - A B S - I N

C 1 3 6 4 / 2

C 1 3 6 5 / 2

P O S - N O U T

P O S - L I M - P O S

C 1 3 6 1 / 5

C 1 3 6 0 / 5

P O S - L I M - N E G

C 1 3 6 1 / 4

C 1 3 6 0 / 4

P O S - P S E T - E X T

C 1 3 6 4 / 1

C 1 3 6 5 / 1

P O S - N - I N

C 1 3 6 2 / 4

C 1 3 6 3 / 4

P O S - P - I N

C 1 3 6 4 / 3

C 1 3 6 5 / 3

P O S -

- O V E R R I D

C 1 3 6 2 / 3

C 1 3 6 3 / 3

P O S -

- O V E R R I D

C 1 3 6 2 / 2

C 1 3 6 3 / 2

P O S - S - R A M P S

C 1 3 6 1 / 1 7

C 1 3 6 0 / 1 7

P O S - P A R A M - R D

C 1 3 6 1 / 1 8

C 1 3 6 0 / 1 8

P O S - L O O P - I N H

C 1 3 6 1 / 1 9

C 1 3 6 0 / 1 9

P O S - P S E T - S W T

C 1 3 6 1 / 2 0

C 1 3 6 0 / 2 0

P O S - A B S - S E T

C 1 3 6 1 / 2 1

C 1 3 6 0 / 2 1

M C T R L - P H I - A C T

P O S - S E T P O S

C 1 2 2 1 / 2

L I M - C T R L

P O S - I N - T A R G E T

P O S - P O U T

P O S - V T R A V - R E A

P O S - V F I N - R E A C

P O S - A C C - R A M P

P O S - V S E T

C 1 2 4 5 / 1

P O S - A S E T

C 1 2 5 5 / 1

P O S - D C C

C 1 2 5 5 / 3

P O S - A C C

C 1 2 5 5 / 2

P O S - V F I N A L

C 1 2 4 5 / 3

P O S - V T R A V

C 1 2 4 5 / 2

P O S - T A R G E T

C 1 2 2 1 / 1

P O S - D C C - R A M P

P O S - R E F - O K

P O S - M A N U - A C T

P O S - S T D B Y - A C T

P O S - A C T P O S

P O S - T P

P O S - M O U T

P O S - M - I N

C 1 3 6 2 / 6

C 1 3 6 3 / 6

P O S - M O U T - G A I N

C 1 3 6 2 / 7

C 1 3 6 3 / 7

V S E T - E X T

S E T P O S - E X T

A S E T - E X T

1 0

V S E T = 0

S E T P O S = A C T P O S

A S E T = 0

M C T R L -

Q S P

- O U T

D C T R L -

C I N H

P O S - N O U T - G A I N

C 1 3 6 2 / 5

C 1 3 6 3 / 5

P O S - N S E T

C 1 2 2 1 / 3

C 1 2 2 0 / 1

C 1 2 2 0 / 2

C 1 2 2 0 / 3

P O S - W A I T S T A T E

C 1 3 6 1 / 2 2

C 1 3 6 0 / 2 2

C 1 2 2 1 / 4C 1 2 2 0 / 4

P O S - J E R K - R E D

C 1 3 6 2 / 8

C 1 3 6 3 / 8

P O S - P O U T - N O R M

C 1 2 1 8 / 1

P O S - P H I - S E T

P O S - P H I - A D D

C 1 3 6 6 / 1

C 1 3 6 7 / 1

P O S - A B S - V A L

S p e e d p r o f i l e r

( f r o m p a t h c o n t r o l u n i t )

( T o u c h P r o b e )

( S p e e d )

( F o l l o w i n g e r r o r )

( T o r q u e )

C 1 2 2 1 / 7

h o m e p o s i t i o n

h o m e o f f s e t

C 1 2 2 1 / 1 6C 1 2 2 0 / 1 6

C 1 2 2 5

( V i r t u a l m a s t e r f u n c t i o n )

S E T P O S

T A R G E T

S e t

( f e e d b a c k s e l e c t e d u n d e r C 4 9 0 )

C 1 2 2 1 / 8

C 1 2 2 7

( G e n e r a t i o n o f a c t u a l p o s i t i o n )

( I n f l u e n c e o f f e e d f o r w a r d v a l u e s )

( E x t e r n a l s e t v a l u e s f o r s t a n d - b y o p

e r a t i o n )

( V a l u e s f o l l o w i n g t h e p r o f i l e )

( L a t c h e d p r o f i l e v a l u e s )

( P 1 4 t o l e r a n c e )

Fig. 3−21 Part of the POS function block

Purpose

l The travel profile generator of the POS function block generates a speed travel profile with the

corresponding setpoints for:

− position setpoint (POS−SETPOS),

− speed feedforward control value and (POS−NOUT) and

− torque precontrol value (POS−MOUT).

l The travel profile is generated with regard to the defined travel profile parameters:

− target position (VTPOS),

− traversing speed (VTVEL)

− acceleration (VTACC)

− deceleration (VTACC)

− final speed (VTVEL).

l The travel profile parameters are always read by the profile generator at the beginning of a

positioning process and remain unchanged for the entire positioning time. The override inputs

(POS−V−OVERRID, POS−A−OVERRID) are taken into consideration during this process.

The values given in the variable tables VTxxx can already be changed for the next positioning

while the current positioning is still running.

1 2 ... 81 82 83 84 85 86 87 88 89 90 91 ... 333 334

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