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2.1.2.11.1.4
Positioning Mode
The Positioning mode is possibly only when the Mailbox is deactivated.
First, the mode must be activated using M_Positioning. The Positioning mode
is active when the M_Positioning_ACK bit is set. Then, the following
setpoints can be specified:
Velocity,
Acceleration,
Absolute position.
The permissible velocity range is 1 ... 25000. A velocity equal to 0, velocities
greater than 25000 and negative velocities are not permitted and will result in
an error message.
The permissible acceleration range is 1 ... 32767. An acceleration equal to 0
and negative acceleration are not permitted and will result in an error message.
The setpoints are not accepted until a rising edge of Start. The drive starts up,
or frequency is output, directly after the setpoints are accepted. The bit
On_Target is canceled immediately and is not reset until the final position has
been reached.
The Busy bit is set from the time when the setpoints are accepted until the
target is reached.
New setpoints can be activated during the run by a new rising edge of Start.
Movement is made toward the new position immediately at the new velocity
and acceleration. Movement toward the old position is not continued (on-the-
fly change). This function also allows you to change only the velocity or
acceleration during an ongoing process.
Attention
With linear sin
taken over when the drive is running at v = const.With constant acceleration
the new set up value is taken over during the ramps.
The special features associated with limit switches and the Jog and
Referencing modes are described in the corresponding sections.
WAGO-I/O-SYSTEM 750
I/O Modules
2
acceleration, the "on the fly" set point value can only be
750-671 [Steppercontroller]
Positioning
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