Integrated Synchronous Servo Drives
HFI 22xx / HFI 26xx / HFI 32xx / HFI 37xx
Positioning mode - Target positions
Operating Manual Rev. 1.3
www.engelantriebe.de
Page 61
8.2.3.3
Target positions
DSerV-Menu Optimisation
Positioning
Target positions
This menu item allows to set the target positions and travel speeds for the positioning in I/O mode. Parameters for
which no Fieldbus object is specified can only be changed via DSerV. Positioning mode works with subordinate speed
control, therefore a ramp characteristic must be selected under Optimisation
Speed controller
Setpoint
ramps (see
chapter 8.2.2.4 Parameters of the speed control loop
).
Target ID: In I/O mode a set of target records, comprising target positions (relative or absolute) and corre-
sponding travel speeds, can be stored in the parameter memory. The selection of the target record as well as
the start command for the positioning process is carried out via the digital inputs (see
chapter 8.3 Digital in-
). Note: The numbering of the target IDs starts at 0!
Example: DI8 | DI7 | DI6 = 1 | 1 | 0 (bin) = 6 (dec.)
Target ID #6
Target position: – The target position is the end position to be approached by the positioning control.
Control I/F
Menu, Object, Telegram
I/O mode
Setup via DSerV
CANopen
Target Position [607A
h
]
EtherCAT
Target Position [607A
h
]
EtherNet/IP
Target Position [607A
h
]
PROFINET
Standard Telegram 9: MDI_TARPOS
or
ENGEL Telegram 100: Target Position [607A
h
].
Speed: Speed defines the absolute value of the travel speed (rotational speed) to the Target position. The di-
rection of motion is not determined by the sign of the speed value. The ramp characteristic to be used is se-
lected under Optimisation
Speed controller
Setpoint ramps (see
chapter 8.2.2.4 Parameters of the
). If ramps inactive is selected, the linear ramp with the last set acceleration/deceleration
parameters will be used.
Control I/F
Menu, Object, Telegram
I/O mode
Setup via DSerV
CANopen
Profile Velocity [6081
h
]
EtherCAT
Profile Velocity [6081
h
]
EtherNet/IP
Profile Velocity [6081
h
]
PROFINET
Standard Telegram 9: MDI_VELOCITY
or
ENGEL Telegram 100: Profile Velocity [6081
h
]
Figure 8-38: Selection of target positions
Figure 8-39: Target position parameters