Baumuller b maXX BM5800, Parameter Manual

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Operating Modes
Parameter manual b maXX BM5800
Document No.: 5.16029.03 Baumüller Nürnberg GmbH
538
of 814
3.8
m
Absolute / relative target specification:

In this case, bit 6 of the control word determines whether the target is absolute or rel-
ative (relative to the last target). If bit 6 is set while the edge of "New Set Value" is ris-
ing, the target specification is relative. If the bit is cleared, the target specification is
absolute. A relative target specification is signed, however the same parameter,
Z
118.9
–
Target Position, is used.
m
CANopen mode with range offset:

In this special mode, the distinction between absolute or relative target specification is
also made via bit 6 of the control word, but for absolute specifications a range offset is
included in the calculation of the target position. In this mode the numerical range for
positioning should be regarded as signed. The target specification is carried out using
Parameter
Z
118.16
–
Relative target position.

m
CANopen mode without range offset:

In this case there is no range offset calculated in the target position for absolute target
specification. Otherwise, this mode is identically with the CANopen mode with range
offset.
m
Absolute positioning to angle in positive and negative direction respectively or shortest
way:

In this case only the angle of the target position is used and this angle will be ap-
proached in the next possible position.
m
Positioning to absolute angle with selectable number of revolutions

In this case it will be positioned to the denoted angle. Thereby the number of revolu-
tions is calculated relatively.
m
Absolute modulo positioning with direction select or shortest way

This type of positioning can be applied at axes on which an endless moving (rotational
axis application) is desired and the target position should be preset in modulo format.
The translation of a between connected transfer element (e.g. gear) is taken into ac-
count via the definition of the range of modulo values (
Z
118.20
–
Modulo value).
3.8.2.10 Change of Operating Mode to Positioning
When changing to the Positioning mode, a changeover with speed matching is possible.
To do this, the drive maintains the previous speed for 16 ms (starting from the mode
changeover). Within this time a new positioning task can be started and will then be ac-
cepted directly. After the 16 ms have elapsed, the drive is braked to Speed 0 with the pre-
set hold deceleration (Parameter
Z
121.8
–
Hold deceleration).
The speed matching is activated via Parameter
Z
118.2
–
Mode, bit 0.
3.8.2.11 Halting a Running Positioning Task
A running positioning task can be halted by setting the Halt bit (Control word
Z
108.1
–
,
bit 8). The data from the current positioning set are used for the deceleration ramp. The
execution of the Halt command is indicated immediately in Status
Z
118.1
–
, bit 9. When
the set speed = 0 (Status
Z
118.1
–
, bit 4) and the Speed Zero message (
Z
6.2
–
) is pres-
ent at the same time, the axis is considered to be halted and Set Value Reached (Status
Word
Z
108.3
–
, bit 10) is set.