Siemens SIMODRIVE 611 universal Function Manual page 387

01.99 10.04
! not 611ue !
Tracking mode If an axis is in the tracking mode, then the control is disabled and its
position reference value tracks the actual position actual value.
The actual position of the axis is still being sensed – this means that it
is not necessary to re–home (re–reference) the axis when the tracking
mode (correcting mode) is cancelled.
Selection, signals In the tracking mode, there are various selection possibilities and sig-
nals:
S
S
Activation The "tracking mode" input signal is only relevant if the controller enable
(terminal 65.x) of the drive is withdrawn or if the controller is re–ena-
bled.
S
S
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
6.2 Positioning mode (P0700 = 3, from SW 2.1)
The tracking mode is selected, if
– controller enable terminal 65.x is withdrawn
and
the "tracking mode" input signal is set to "1"
– Jogging operation (jogging 1, 2) is active (when jogging via the
velocity, not for incremental jogging)
– When a fault develops, automatically using "SIMODRIVE 611
universal"
(only for a STOP 0, I or II stop response)
In all cases, the checkback signal is realized using the output signal
"tracking mode active".
Tracking mode = 1 (so–called tracking)
When the axis–specific controller enable is withdrawn (terminal
65.x), the position reference value of the associated axis continually
tracks the position actual value. In this status, the "tracking mode
active" output signal = "1".
If the controller is re–enabled, all additional axis movements start at
the actual position which may have changed.
Tracking mode = 0 (stopping)
No tracking operation is activated when the controller enable is with-
drawn and the following error, positioning and standstill monitoring
are disabled. This means that the old position reference value is
kept. If the axis is pushed out of its position, a following error occurs
between the position reference value and the position actual value,
which is compensated when the controller enable is set. In this sta-
tus, the "tracking mode active" output signal = "0". However, when
the monitoring function is enabled, tracking operation is activated
and the position reference value follows the position actual value.
All additional axis movements start at the reference position, which
was available before the controller enable was withdrawn.
6 Description of the Functions
6-387
6