Mdi Operation (From Sw 7.1) - Siemens SIMODRIVE 611 universal Function Manual

6 Description of the Functions
6.2 Positioning mode (P0700 = 3, from SW 2.1)
6.2.12

MDI operation (from SW 7.1)

Description
Signal timing MDI
Activate MDI
MDI active
External block change
(input signal, Fct. No. 67 or STW1.13)
External block change
(output signal Fct. No. 67 or AktSatz.14)
Activate traversing task
Reference
position reached
Fault 144
Interpolator data
1) For the earliest possible instant in time to enter new block parameters (PZD and/or default block),
refer to Table 6-49 output signal function No. 67.
2) A new positioning operation is started without the MDI end position having been reached.
Fig. 6-28 Control and status signals for MDI
6-426
Using the "MDI operation" function and when in the "positioning" mode
it is possible to change the parameters of the MDI block (e.g. reference
position, velocity, etc.) via process data and PROFIBUS–DP and/or via
parameters (P0091 to P0094, P0097) while this is executed. If, for this
particular block, the block change enable CONTINUE EXTERNAL is
parameterized, then the changes which were made can be immediately
activated with the signal to change the block. This means that the
changes are accepted in the interpolator. For the block change enable
END, the changes only become effective when this traversing block is
re–started in the interpolator.
In this MDI block, only RELATIVE, ABSOLUTE positioning operations
can be executed and for rotary axes with modulo correction, in addition,
ABS_POS and ABS_NEG.
In this case, only END or CONTINUE EXTERNAL with P0110=2 or 3
are permissible as block change enable condition.
Block
completed
MDI A
TA
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
MDI canceled
External block change
1)
MDI B MDI C
2)
TB TC
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07.03 01.99