Control By Means Of The "Start Positioning" Method - Baumuller b maXX BM3000 Operating Manual

4.8
Operating Modes
Figure 186:
Duration [sampling steps] 188
Commissioning behavior
Driving into the target
Acceleration profile
Tendency to vibration

4.8.2.15 Control by Means of the "Start Positioning" Method

Positioning control by means of the "Start Positioning" method is described in the follow-
ing.
This mode can be activated via
Sequence of events
The controller has 16 positioning records (1..16) and one active positioning set (0).
At the start of the positioning task, one of the 16 positioning records (1...16) is selected
with
via a Fieldbus. The positioning task is started with the Start Positioning command (Bit 11
of the Control Word).
The Start bit must always be set to start a positioning task. The positioning task then runs
to the end regardless of the Start bit.
The following differences for this Start bit arise depending on the Positioning Target Mode
parameter (Parameters
Mode for Positioning Records 1 to 16):
m With absolute limited target setting (Target Mode = 0, limited to maximum travel ampli-
562 Parameter manual b maXX BM3000
Document no.: 5.12001.07
of 820
Comparison of the curves (trapezoidal profile and S-Curve profile)
Trapezoidal profile
optimum time
-
-
Rectangular
-
Z118.6–
Positioning Record Number Actual or a positioning set is transferred e.g.
Z118.10–
tude), the Start bit can remain permanently set; positioning is then always based on the
current, absolute target position. This means that when the Start bit is set, only further
new (absolute) target positions need to be written.
Trapezoidal profile
with smoothing
230
o
+
Filter characteristic Trapezoidal-
o
Z118.2–
Positioning Mode Bit 8 = 1.
Target Mode for Positioning Set 0,
Sampling rate
S-Curve profile
(jerk-free)
207 or 257
+
+
shaped
+
Z118.19–
Baumüller Nürnberg GmbH
Target