Siemens SIMODRIVE POSMO A User Manual page 176

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5.5.4 Rotary axis
Parameterizing a A rotary axis is parameterized using the following parameters:
rotary axis
S
S
S
S
Example (refer to Chapter 3.3):
A rotary axis with modulo 360 and dimension units of degrees is para-
meterized with these typical values.
Programming The traversing characteristics of a rotary axis are dependent on which posi-
tioning type has been programmed – either ABSOLUTE or RELATIVE.
S
S
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SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition
P1 axis type
P2 travel per gearbox revolution
P3 gearbox step–down factor
P4 dimension units
Absolute motion
– Target position
The target position is programmed in the traversing block using
P81:28 and is executed, modulo–corrected.
Example:
P81:4 = 520 ––> for modulo 360, the axis is positioned to 160
– Velocity and traversing direction
The velocity and traversing direction is programmed in the tra-
versing block using P82:28.
Velocity:
Traversing direction:
Traverse through
the shortest distance:
Relative motion
– Target position and traversing direction
The target position is programmed in the traversing block using
P81:28 and is not executed, modulo–corrected.
P81:28 > 0 ––> positive traversing direction
P81:28 < 0 ––> negative traversing direction
Examples:
P81:4 = 520 ––> the axis moves in the positive direction through
520
P81:4 = –10 ––> the axis moves in the negative direction
through 10
– Velocity
Velocity: is entered via P82:28
5 Description of the Functions
5.5 SIMODRIVE POSMO A functions
e.g. = 360
e.g. = 360
e.g. = 18
e.g. = 1
Absolute value of P82:28
Sign of P82:28
+: ––> positive direction
–: ––> negative direction
PSW.12 = "1" (from SW 1.4)
5
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