ABB ACSM1 Series, Manual

Page: 237 / 510

Parameters and firmware blocks
237
Bit 2 1 = Positioning to the target position along the shortest path, regardless of bit 0 and 1 values.
0 = Positioning to the target position according to bits 0 and 1.
Bit 3 1 = Before the positioning is started, the position system is reset.
0 = The position system is not reset.
Bit 4 1 = Selected target position is absolute. (Always the same position reference).
0 = Selected target position is relative as defined by bit 6.
Bit 5 1 = Before the positioning is started, the position system is returned to the rollover axis range, ie,
between 0…1 revolutions.
0 = The position system is not returned into the rollover axis range.
Bit 6 Effective only when bit 4 = 0.
1 = Selected target position is relative to the actual position.
0 = Selected target position is relative to the previous target position.
t
s
v
v
s
t
Actual pos. 90°
Pos. reference 300°
A
B
A = Shortest path from 90° -> 180°: 90° + 90° = 180° (forward)
B = Shortest path from 90° -> 300°: 90° - 150° = 300° (reverse)
Actual pos. 90°
Pos. reference 180°
4.13 POS REF IPO
4.01 SPEED REF POS
65.03 POS START 1
s
t
4.13 POS REF IPO
65.03 POS START 1
s
t
1.12 POS ACT
65.03 POS START 1
s
t
1.12 POS ACT
65.03 POS START 1
11.2 rev
0.2 rev
s
t
1.12 POS ACT
65.03 POS START 1