Profile Generator And Reference Handling - Danfoss iC7 Motion Series Application Manual

Application Guide | iC7 Series Motion
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Disable Direction Selection
Figure 10: Directions of Movement with Rotary Axis
Relative positioning
Relative movement is started by activating a new target with the Enable Reference signal. For relative positioning the Enable Reference
signal is edge-triggered, meaning that a pulse executes a positioning command and completes it with the references active at the point
of execution. Any change to the references is ignored unless activated with a new pulse. Speed reference and ramps can be changed
during movement by keeping the Enable Reference signal active until the target is reached.
With relative positioning, the target position is calculated from the set distance (position reference) and a starting point, which can be
selected with parameter 5.14.2.15 Relative Positioning Modeoffering the following selections:
Table 7: Relative Positioning Modes
Selection
Additive
Relative to demanded position
Relative to actual position
Relative to Touch Probe 1
Relative to Touch Probe 2
The sign of the position reference determines direction of movement with both linear and rotary axis. Distance of movement (position
reference) can be greater than 1 rotation in rotary mode.
Touch Probe positioning
Touch probe positioning is started by activating the Touch probe positioning signal. The drive starts running in Speed mode with the set
speed reference until the touch probe sensor is detected. Then the drive switches to positioning mode, with the target calculated from
the actual position at the touch probe sensor and the selected position reference.

Profile Generator and Reference Handling

2.12.2.2
For each positioning, the drive calculates a speed profile for moving from the current position to the target, based on the selected
references for position, speed, acceleration, and deceleration.
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Negative Direction
Description
The additive distance is added to the current target even if the target has not been reached. The ad-
ditive distance is added at every triggering of Enable Reference. As an example: Current position =
100, Position reference = 10, Enable Reference is toggled 5 times, the resulting target = 150.
The relative distance is added to the demanded position (reference for the position controller)
when Enable Reference is activated.
The relative distance is added to the actual position when Enable Reference is activated.
The relative distance is added to the position of the latest Touch Probe 1. This selection requires
that the Touch Probe 1 sensor has been detected at least once.
The relative distance is added to the position of the latest Touch Probe 2. This selection requires
that the Touch Probe 2 sensor has been detected at least once.
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Positive Direction
AB318753549016en-000301 / 136R0284
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Shortest Way