Positioning With Negatively Initialized Overtravel At Too Little Distance; Setpoint Change On The Fly - WAGO -I/O-SYSTEM 750 Manual

2.1.1.9.8.6 Positioning with negatively initialized overtravel at too little
distance
Example 12:
PU = BD
PD = BD
RT = 1
OZ = 0
OT = -V
Fig. 2.1.1-18: Example 12
The negatively initialized overtravel forces the setpoint position to be
approached from below. It is detected that the distance to the setpoint position
is smaller than the absolute value of the overtravel. The actual position is
below the setpoint position; however, it is not far enough for successful
positioning. Therefore, the first moving cycle increases the distance to the
setpoint position; afterward, the setpoint position is approached.
2.1.1.9.9

Setpoint change on the fly

If during an active positioning motion the setpoint position is changed in the
process image, the terminal should react. If this new setpoint position is in
direction of the motion, the terminal will attempt to reach this position with an
intermediate stop. The earliest possible time for this evaluation is after the
conclusion of the acceleration or softstart phase. Furthermore, the distance
will be examined for its compliance with the configured approach criteria. If
this is not the case, or the new setpoint position is in an opposite direction, the
drive will stop. If so, the determined brake path for the current direction of
motion is not copied to the corresponding RAM register. If the configured
retry counter for the maximum admissible retries is set to 0, the positioning
process is terminated and a positioning failure is output. In all other cases, the
first retry attempt to reach the new setpoint position will begin.
WAGO-I/O-SYSTEM 750
I/O-Modules
BD
-
HP = AP =
IP - (PU + PD) HP + PD
-
IP
750-636 [DC Drive Controller]
Function Description
OT
AD
+
IP SP
OT
PU
+
AP = HP = SP
SP - PU
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