Change Of Operating Mode To Positioning; Halting A Running Positioning Task - Baumuller b maXX BM3000 Operating Manual

4.8
Operating Modes
m CANopen mode with range offset: 
m CANopen mode without range offset:
m Absolute positioning to angle in positive and negative direction respectively or shortest
m Positioning to absolute angle with selectable number of revolutions
m Absolute modulo positioning with direction select or shortest way 

4.8.2.10 Change of Operating Mode to Positioning

When changing to the Positioning mode, a changeover with speed matching is possible.
To do this, the drive maintains the previous speed for 16 ms (starting from the mode
changeover). Within this time a new positioning task can be started and will then be ac-
cepted directly. After the 16 ms have elapsed, the drive is braked to Speed 0 with the pre-
set hold deceleration (Parameter
The speed matching is activated via Parameter

4.8.2.11 Halting a Running Positioning Task

A running positioning task can be halted by setting the Halt bit (Control Word Z108.1–,
Bit 8). The data from the current positioning set are used for the deceleration ramp. The
execution of the Halt command is indicated immediately in Positioning Status Z118.1–,
Bit 9. When the set speed = 0 (Positioning Status Z118.1–, Bit 4) and the Speed Zero
message (Z6.2–) is present at the same time, the axis is considered to be halted and Set
Value Reached (Status Word Z108.3–, Bit 10) is set.
When the Halt bit is reset, the remaining travel is automatically completed and the status
bits Set Value Reached (Status Word Z108.3–, Bit 10) and Positioning Status Z118.1–,
Bit 9 are cleared.
The interrupted positioning task can be resumed at the earliest when Set Speed = 0 is
set. If the Halt bit is already set when a start command is set, the positioning task will not
be started. It will only be started when the Halt bit is cleared.
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absolute. A relative target specification is signed, however the same parameter,
Z118.9–
Positioning Target Position, is used.
In this special mode, the distinction between absolute or relative target specification is
also made via Bit 6 of the control word, but for absolute specifications a range offset is
included in the calculation of the target position. In this mode the numerical range for
positioning should be regarded as signed. The target specification is carried out using
Z118.16–
parameter Positioning Relative Target Position.
In this case there is no range offset calculated in the target position for absolute target
specification. Otherwise, this mode is identically with the CANopen mode with range
offset.
way:
In this case only the angle of the target position is used and this angle will be ap-
proached in the next possible position.
In this case it will be positioned to the denoted angle. Thereby the number of revolu-
tions is calculated relatively.
This type of positioning can be applied at axes on which an endless moving (rotational
axis application) is desired and the target position should be preset in modulo format.
The translation of a between connected transfer element (e.g. gear) is taken into ac-
count via the definition of the range of modulo values (Z118.20–
Z121.8–
Hold Deceleration).
Z118.2–
Modulo value).
Positioning Mode, Bit 0.
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