Target Position Setting (Positioning) Mode; Controlling The Positioning - Baumuller b maXX BM3000 Operating Manual

Description of the Software Modules and Parameters
4.8.2

Target Position Setting (Positioning) Mode

The target position setting mode is a drive-controlled positioning mode. Based on the tar-
get position specification, the motion profile is calculated in the drive and the drive is
moved to the target position. The drive can only ever calculate the profile for its own axis.
The positioning operation can be used to implement
m route positioning or
m rotary table positioning
may be implemented.
A trapezoidal profile (optimum time) or an S-curve (jerk-free) can be selected for the
speed profile.
The drive has 16 positioning records (1 ... 16) and one active positioning set (0), in which
the positioning data (e.g. position set value, positioning speed, positioning acceleration,
etc.) are stored.
The positioning data can be changed
m statically (i.e., before the positioning starts) or
m dynamically (during an active traversing process)
may be changed. In the case of dynamic changes, the traverse profile is automatically
adapted to the new positioning data.
The target position can be specified
m absolutely
m relative to the target position or
m relative to the instantaneous actual position ("positioning on the fly")
may be indicated.
During positioning the travel of the drive can be restricted by hardware limit switches and
by freely settable software limit switches. If the drive reaches such a limit switch it will be
braked and a corresponding status message or error message will be generated.
To determine the actual position, one of the supported encoder systems can be used.
Various possibilities for the reference run are given to establish an absolute reference
from the drive position to the travel route for encoder systems that do not provide any ab-
solute position information (e.g., incremental encoders) or for single-turn encoders (e.g.,
resolvers). These are implemented in their own operating mode and will be described in
a separate section.

4.8.2.1 Controlling the Positioning

Two handshake procedures are implemented for controlling the positioning. The selec-
tion is defined by Bit 8 in Parameter
Z118.2–
Mode.
Parameter manual b maXX BM3000
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