Siemens Simovert Masterdrives Compendium page 623

02.2004
8.5.7 Description of individual modes
8.5.7.1 Profile Position mode
NOTE
Positioning with
MASTERDRIVES MC
F01
Nonflying
positioning
NOTE
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
The MASTERDRIVES MC with F01 is switched directly to "Profile
Position mode" after booting.
The MASTERDRIVES MC without F01 is switched directly to "Profile
Velocity mode" after booting.
Positioning operations in "Profile Position mode" are processed
differently on MASTERDRIVES MCs with and without F01.
Positioning on MASTERDRIVES MC F01 is implemented via MDI
technology block 0. A number of connections must be made for this
purpose. The speed setpoint connector must be wired to U533 and the
position setpoint to U532. The required interconnections are contained
in scriptfile MC F01.
The CBC automatically resets bit STA P2710.3 in response to a
command that causes a status change from Operation Enable. It then
waits for bit STA_EN and subsequently executes the command.
For an exact description of the internal interconnections of the CBC,
please see Subsection 8.5.11.
1. 6083h Profile_acceleration (MD 18), 6084h profile_deceleration
(MD 19) are transferred to the converter.
Parameter U502 (transfer of machine data) is set to 2 when object
6083h (MD18) or 6084h (MD19) is written. This is done automatically
by the CBC.
Position setpoints are input in LU. The AVWF factor determines how
they are normalized (see Subsection 9.4.8 "Position Sensing System
for Motor Encoder").
1. The bit change_set_immediately is in control word zero.
2. The traversing velocity 6081h profile_velocity is transferred to the
MASTERDRIVES by CANopen (U533).
3. The target position 607Ah target_position is transferred (U532)
4. The command new_setpoint = 1 is transferred to the
MASTERDRIVES on a rising edge (STA bit is set).
5. The MASTERDRIVES acknowledges the command with
setpoint_acknowledge = 1 (FUR=1) on a rising edge.
6. The MASTERDRIVES resets bit setpoint_acknowledge (FUR=0)
when the target position is reached (DRS=1).
7. The CANopen MASTER can now initiate a new positioning
operation.
Compendium Motion Control
Communication / CBC CANopen Communication Board
8.5-65