Figure 25: Profile Positioning Mode (1) - KEB COMBIVERT F6 Programming Manual

Operating modes
4.8.1.2 Profile positioning mode with FIFO (pp-mode)
Up to 5 position sets can be stored in the FIFO memory. However, these position
sets are not stored permanently, but must be preset for each restart.
A position set for the positioning consists of the following objects.
•
•
•
•
The single position sets are generated when the actual values of parameters co19,
ps30, ps31
memory with setting of bit "new setpoint" in the control word.
The start of the positioning occurs with bit 4 (new setpoint) in the control word.
Acknowledgement occurs with bit 12 (setpoint acknowledge) in the status word.
An already active positioning can be interrupted with bit 8 "stop" in the control word
or by setting a new position set with bit 5 "change set immediately".
If a positioning is completed, also the setpoint via
Thus, a positioning can be started directly from operation with speed setpoint. Con-
versely, it can be changed directly after positioning with final speed to the speed
setpoint.
4.8.1.2.1 Overview profile positioning mode with FIFO
21
1

Figure 25: Profile positioning mode (1)

128
(CiA 0x607A) co19 target position
(CiA 0x6081) ps30 profile velocity
(CiA 0x6082) ps31 end velocity
Bit 6 in the control word, absolute (Bit = 0) or relative positioning (Bit = 1).
and the "absolute / relative" control word bit are written into the FIFO
1fghfh
vl20 / vl21 is active.
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