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Positioning
10.21 Positioning with the IP 240
The flowchart below illustrates the functional sequence for positioning with the IP 240.
In the examples, no checks are made for errors such as skipping of a position or wirebreak.
10.21.1 Positioning with the IP Controlling the Speed
START
Set control bit FREI to "0"
Write control bits and position number
Read actual value and status bits
BEE2="0"?
no
RICH="0"?
yes
Preselect
positive
direction
Set control bit FREI to "1"
Write control bits
Read status bits
BEE2="0"?
yes
Wait for motor standstill
(e.g. start monitoring time)
Read status bits
BEE3 und ZBEV="0"?
no
Flag error
Other reactions
e.g. repositioning
END
Fig. 10-31. Positioning with the IP 240 Controlling the Speed, without Backlash Compensation,
Axis with Two Speeds and Two Directions of Travel
10-72
yes
no
Preselect
negative
direction
Set control bits FREI, HAND and DA2S
no
Set control bits FREI, HAND and DA2S
Write control bits and position number
yes
Position reached
BEE3="0"?
no
RICH="0"?
yes
Preselect negative
direction
(S5 output)
to "1"
Write control bits
Read status bits
RIUM="1"?
yes
to "0"
Special routine: Exit range manually
EWA 4NEB 811 6120-02a
IP 240
yes
no
reselect positive
direction
(S5 output)
no
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