Functions
7100.006514_Bus description_PSD4xx_EC_F_EN
28
2022-12-12
4.2
Types of positioning
4.2.1
Positioning run with reference loop
The PSD4xx distinguishes between the following steps of a positioning sequence
(Assumption: the target position is always approached through forward motion)
1)
New position value is larger than the current value:
position approached directly.
2)
New position value is smaller than the current value:
the drive reverses an additional 5/8 of one rotation (2a)
and approaches the exact position after resuming forward motion (2b).
3)
New position value after reverse run (no reference loop):
the drive always approaches by moving forward (3b),
if necessary, it will first reverse by 5/8 of a rotation (3a).
After reaching the target position, this position is compared with the internal absolute encoder
position. When positioning outside the positioning window (SDO #2006) a second positioning is
automatically started and the drive will move to the target position again. If there is another
deviation outside the positioning window, the status bit "Positioning error (blocking)" is set.
Note:
It is not possible to perform a positioning run to the upper limit (SDO #2016) with a
length of loop > 0 because the drive would have to run past the upper limit in order to do
so. The same applies to the lower limit (SDO #2017) with a length of loop < 0.
Actual
Actual
Target
Target
Actual Target
