Functions
The Milan drive advanced is equipped with all functions of a positioning system.
By entering the reduction ratio of an interconnected gearing, the swivel movements and positions at the actuator output are calculated for a rotary as well as a linear axis.
The display units can be selected as follows:
- increments,
- rpm/min,
- µm, mm, cm...
Additional software limit switches can be defined via the system settings. The activation of the round shaft/ modulo function allows a precise positioning within one motor revolution (C-axis or stem orientation for machine tools).
Reference operation management
An absolute drive position can be defined with the reference operation for the subsequent positioning tasks.
End switches, reference switches, or end stops can serve as reference points.
If an absolute encoder is available, the reference operation only has to be performed at the time of commissioning.
The reference operation can be activated by:
- connection of power supply (powerup)
- first start
- reference operation by external signal
- manually activated via the MDA-Win software
Reference operation speed/ output speed and reference operation torque/ rim pull can be pre-determined.
The positioning occurs internally via a P controller. The proportional amplification depends on the system to be controlled.
The adjustable position control stop time indicates how long the drive can hold the required torque for modulating after the end of the program in order to prevent any change of the nominal position caused by external forces.
The position control stop time can be adjusted between 0 and ∞.
Single step mode
The driving data records are individually activated by a start signal either via the bus, the RS 232 interface, or a digital input.
Sequence control
Each driving data record can activate another data record, thus enabling the programming of closed loops. A waiting period can be defined between two driving data records.
Branches are possible via an external signal. As soon as this signal is received, the drive jumps to the programmed driving data record and performs the action defined there.
As a further possibility, the program sequence can be stopped after any driving data record and only be resumed by an external synchronisation signal.
Teach In
Teach in is the possibility to assign actual positions as nominal positions to certain driving data records. Externally determined sequences of movements can therefore be displayed in the program flow.
Linking driving data recordsThe transitions between two driving data records can be structured according to the application. The Milan drive advanced offers the following facilities:
- End-to-end change-over: next driving data record is started without deceleration to speed 0
- Stop position: the actual position is maintained in position control during the indicated waiting time.
- Wait with brake: during the indicated waiting time, the actual position is maintained via the holding brake
- Wait without current: during the waiting time, neither current nor torque is applied to the motor
For each driving data record, 6 controller variations can be selected:
Output speed/ speed
This variable is the primary controlled variable.
Contouring error
This is an output speed/ speed control at which a programmable contouring error is monitored. Upon exceeding a contouring error window, the contouring error signal is generated.
Torque/ Force
In this case, the present variable is the primary controlled variable.
Absolute position
Independent of the current position, the drive runs to the defined position.
Relative position
From the current position, the drive continues the travel by an indicated value.
Modulo position
The position setpoint is reached via the shortest path, i.e. the drive never performs more than half a rotation.
