Figure 31: Motor Encoder With Initiator At Rotary Table - KEB COMBIVERT F6 Programming Manual

Operating modes
The behaviour depends on the setting in
index end
of the pre-control profile if the target speed
wise the target window
ing window
ps31
the pre-control pro-
file at the target
has expired
Attention, when reaching the target position, bit 4 in the
word must no longer be set in order to trigger bit 10 target reached in the
0x6041)
To start a new positioning, the positioning must be completed. A completed posi-
tioning means:
•
•
If a new positioning shall be started without finishing the previous one, this is only
possible via the bit change set immediately or by removing the modulation release.
4.8.1.13 Examples for rotary table positioning
4.8.1.13.1 Motor encoder with initiator at rotary table
Combivert F6
X2A Enc B
21
1

Figure 31: Motor encoder with initiator at rotary table

In this example the value range of the rotary table is monitored only by an initiator.
A non-integer gear factor can be compensated.
140
speed. The bit "target reached" (TR) is set immediately after completion
(ps14 (CiA 0x6067) positioning window
time) is considered.
≠ 0
or ps41
the pre-control profile at the target has expired
➢
ps14 (CiA 0x6067) positioning window
window symmetrically to the target position (position win-
dow = target position +/- ps14).
➢
ps15 (CiA 0x6068) positioning window time
time the drive must be in this target window.
➢ The drive is in the target window for the time
get position +/- ps14).
statusword.
the bit target reached is set for single positioning
the drive is in the target window in the following positioning
M
3~
Encoder
Enc A
1fghfh
ps31 (CiA 0x6082) end velocity
(ps31 or ps41) is not equal to 0. Other-
and
ps31 or ps41 = 0
defines a position
co00 (CiA 0x6040) control-
Gear
or ps41
ps15 position-
defines the
ps15 (tar-
st00 (CiA
Circular
table
Initiator
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