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Deployment
PtP positioning profile
4.6 PtP positioning profile
Overview
60
Always adapt parameters to the operating mode!
Please ensure that the module always has the correct parameters
according to the selected operating mode! Pay special attention to the
use of the current values in the output area!
area' on page 83
Start parameter
Ä 'Start - Start parameter homing' on page 54
–
Ä 'Start - Start parameter PtP position profile' on page 62
–
–
Ä 'Start - Start parameter velocity profile' on page 73
–
Ä 'Start - Start parameter torque control' on page 77
With the PTP-position profile, you can move to target positions by specifying profile
velocity, profile acceleration and profile deceleration. Here, the limits for velocity and max-
imum traversing position are always be considered. Due to changes of values are imme-
diately used and activated, "on the fly" changes of the move process are possible.
n
Changes in acceleration respectively deceleration are directly used with the profile
generation.
n
Deceleration and reversing is automatically executed when a new target position
requires a change of direction. A separated activation by starting the job in the Con-
trol word is not necessary.
n
If a specified target position is reached or a limit is activated during the traversing, this
Ä '0x8100-02 - Status word' on page 110.
is indicated in
n
Current values of position, velocity, acceleration and deceleration are calculated by
the System SLIO motion module itself.
There are the following possibilities to evaluate the encoder signal
Encoder Feedback configuration' on page 143:
n
controlled mode
–
The System SLIO motion module works in a controlled mode.
–
Positioning and velocity loops are open
–
There is no evaluation of the encoder signal
–
Current values of position, velocity, acceleration and deceleration are calculated
by the System SLIO motion module itself.
n
closed-loop mode
–
The System SLIO motion module works in a closed-loop mode
–
Positioning and velocity loops are closed
–
The encoder signal is evaluated and from this the current values of position,
velocity, acceleration and deceleration are determined.
VIPA System SLIO
Ä Chapter 4.11 'In-/Output
Ä '0x8F00-01 -
HB300 | FM | 054-1CB00 | en | 18-06
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