Danfoss iC7 Motion Series Application Manual page 31

Application Guide | iC7 Series Motion
The following example shows the resulting target for each positioning type with a start position of 2000 and a position reference or
target of 1000:
Absolute
0
Relative
0
Touch probe
0
Figure 9: Positioning Types
The default positioning type is Absolute. Relative positioning is selected by setting parameter 5.14.2.14 Relative Positioning Input to
True, or to fieldbus bit or digital input for external activation. Input for starting Touch Probe positioning is selected with parameter
5.14.2.16 Touch Probe Positioning Input.
Note:
A prerequisite for any positioning movement is that the drive is enabled and has received a start command.
Absolute positioning
Absolute movement is started by activating a new target with the Enable Reference signal. For absolute positioning Enable Reference
is level-triggered, meaning that when permanently set, any new position reference is used as the target right away, even if the new
reference is selected before reaching the previous target. Any changes to speed reference and ramps are active right away while Enable
Reference is set, also during ongoing movement. When Enable Reference is not set, any changes to position reference, speed reference,
or ramps are inactive until Enable Reference is set.
With linear axis, direction of movement depends on whether the target is behind or in front of the actual position. With rotary axis,
direction of movement is configurable with the following selections in parameter 5.14.2.17 Absolute Positioning Direction:
Table 6: Directions of Movement with Rotary Axis
Selection
Disable Direction Selection
Positive Direction
Shortest Way
Negative Direction
The arrows of the following illustration show the movement path with absolute movement from 50 to 330, 330 to 50, 150 to 210, and 210
to 150 for the different selections in a rotary system going from 0 to 360:
© 2023.11
1000
1000
1000
Description
Like linear axis, no crossing of minimum and maximum positions.
Movement always in the positive direction, even if it means crossing the minimum or maximum po-
sition.
Always takes the shortest way, even if it means crossing the minimum or maximum position.
Movement always in the negative direction, even if it means crossing the minimum or maximum
position.
2000
3000
2000
3000
2000
3000
Touch probe sensor
4000
4000
4000
AB318753549016en-000301 / 136R0284 |
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