X20 system modules • Motor controllers • X20SM1436
X20 system User's Manual 3.10
2057
"Set of setpoints" mode
When the
Change set immediately
bit is set to 1
(Ⓑ
in figure "Principle for applying the setpoint"), then the module
is operating in
Single setpoint
mode. This means that the module receives the first position setpoint at t
0
. A second
position setpoint is received at the time t
1
. The drive immediately adapts the current movement to the new setpoint.
v
1
v
2
t
0
t
1
t
2
Figure 638: Ramp in
Set of setpoints mode
Relative position setting
When the
abs / rel
bit in the Extended control word register is set, then the position setpoint is interpreted as a
relative value. At each
New setpoint
trigger, the position setpoint will be increased by this value (or decreased if
the value is negative).
If the mode changes between the position settings, relative movement will then proceed starting at the last specified
position. The position setpoint mode is initialized with 0 when the module is started.
Mode 2: Speed mode - Constant speed (pos./neg.)
The value in the Position/speed register is now interpreted as the speed setpoint (microsteps/ cycle).
Observing the maximum permissible acceleration, the motor moves with a ramp to the desired speed setpoint and
maintains this speed until a new speed setpoint is specified.
Values are allowed within the range -65535 to 65535. When a value is entered outside of this range, it is readjusted
to these limits.
Mode -120: Set home position
This mode is supported starting with upgrade 1.3.1.0 (firmware version 16).
The current actual position is modified so that the position specified by the Position/speed register is at the home
position. If you subsequently move to this position, the motor is at the home position.
The home position in the "Home position" register is also set to this value.
Before this mode is called, the motor must be at a standstill and the home position must have been determined
using the "Positive / negative homing" mode. In order to set the position, the State machine must be in the state
"Operation Enable".
Mode -121: Remaining distance mode (like Modus 1)
The number of steps defined in the "Fixed position A" register are added to the current position and the resulting
position is approached at a rising/falling edge on digital input 3.
Note:
Steps are not added to the position setpoint, but rather to the current position at the moment the trigger
occurs.
Negative values are also allowed for the offset defined in "Fixed position A".
New position setpoints are no longer accepted in the Position/speed register after the trigger event. There must
first be a switch made to mode 0 and then back to mode -121.
The "Target reached" bit in the Status word register is not set to 1 until the end position (after the trigger event)
has been reached.
The Homing configuration determines whether a rising or falling edge of the digital input is used as a trigger.
The Reversing loop is not enabled in this mode (i.e. any configured values not equal to 0 are ignored).
Summary of Contents for X20 System
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