SEW-Eurodrive IPOS plus Manual page 4

Contents
4
5.5 Interrupts................................................................................................... 45
5.5.1 Example..................................................................................... 46
5.6 Interrupts for MOVIDRIVE
5.6.1 Interrupt activation ..................................................................... 46
5.6.2 Error interrupt............................................................................. 46
5.6.3 Touch probe DI02 interrupt........................................................ 47
5.6.4 Timer0 interrupt ......................................................................... 48
5.7 Variable interrupts with MOVIDRIVE
5.7.1 Calling up the variable interrupt ................................................. 49
5.7.2 IPOS access to the internal interrupt control ............................. 50
6 Position Detection and Positioning................................................................. 53
6.1 Encoder evaluation ................................................................................... 53
6.2 Motor encoder (X15) ................................................................................. 54
6.3 Encoder combinations .............................................................................. 54
6.4 External encoder (X14) ............................................................................. 57
6.4.1 Positioning on external encoder (X14)....................................... 57
6.4.2 Slip compensation with external encoder .................................. 57
6.5 SSI absolute encoder (DIP) ...................................................................... 60
6.5.1 Startup ....................................................................................... 60
6.5.2 1. Select encoder type P950...................................................... 60
6.5.3 2. Set direction of rotation of the motor P35_ ............................ 61
6.5.4 3. Set counting direction P951 for the SSI absolute encoder .... 61
6.5.5 4. Set encoder scaling P955...................................................... 61
6.5.6 5. Set position offset P953......................................................... 61
6.5.7 6. Set Zero offset P954.............................................................. 62
6.5.8 7. Set encoder factors P942 and P943...................................... 62
6.5.9 8. Set P941 actual position source ............................................ 62
6.6 Referencing............................................................................................... 63
6.6.1 Type 0: Reference travel to zero pulse...................................... 67
6.6.2 Type 1: CCW end of the reference cam .................................... 67
6.6.3 Type 2: CW end of the reference cam....................................... 68
6.6.4 Type 3: CW limit switch ............................................................. 69
6.6.5 Type 4: CCW limit switch........................................................... 69
6.6.6 Type 5: No reference travel ....................................................... 70
6.6.7 Type 6: Reference cam flush with CW limit switch .................... 70
6.6.8 Type 7: Reference cam flush with CCW limit switch ................. 71
6.6.9 Type 8: Without enable.............................................................. 72
6.7 Modulo function......................................................................................... 73
6.7.1 Introduction ................................................................................ 73
6.7.2 Operating principle .................................................................... 74
6.7.3 Travel strategies ........................................................................ 77
6.7.4 Project planning ......................................................................... 80
6.7.5 Project planning examples......................................................... 80
6.7.6 Frequently asked questions....................................................... 83
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A and B......................................................... 46
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B................................................... 49
Manual - IPOSplus®