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108 • 750-671 [Steppercontroller]
Expanded Positioning Functions
2.1.2.12.1.2
Absolute Positioning
The target position is always within the range 0 ... 2π for absolute positioning.
A setpoint defined outside of this range will result in an error.
On a movement task from standstill, the system determines in what direction
the target can be reached in the shortest time.
For a positioning movement at a starting velocity, or target velocity, the
direction of movement that requires no, or the fewest, changes in direction
will be selected.
Absolute positioning permits braking at a certain velocity setting to a precisely
defined spot (e.g. coil end that is to be stopped exactly at an attitude angle of 0
from full speed, only possible via mailbox!).
2.1.2.12.2
Camshaft
The camshaft provides pulses as a function of position for nine (9) channels
CAM1 ... CAM9. Up to 50 switching positions can be freely defined through
channels 1 ... 8. Channel CAM9, on the other hand, supplies a periodic signal
as a function of position.
Parameterization of channels 1 ... 8 is performed using a table containing 50
entries. Each entry consists of a position xp (24-bit) and a bit sample (8-bit).
The bit samples each describe the position of the eight output channels CAM1
... CAM8, which is valid starting from the assigned position xp up to the next
larger position entry xp+1.
The table entries are arranged according to ascending positions.
The bit sample for the first entry is output for lesser entries.
The configuration assigns Channel 9 the starting position, the cam width and
the repeat cycle.
The activated camshaft is always active, independent of the Move mode, with
the exception of the reset status.
In contrast to other setpoints, the switching positions for the camshaft are
always given in "microsteps". Conversion from or to other user-specific units
is not provided for.
The Camshaft table can not be edited in the module, but must be downloaded
completely.
WAGO-I/O-SYSTEM 750
I/O Modules
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