Function overview
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5.3
Positioning control
5.3.1
Overview
In positioning mode a certain position is set, which is to be approached by the motor. The current position is derived from the
information provided by the internal encoder evaluation. The position deviation is processed in the position controller and is
passed on to the speed controller.
The integrated positioning control allows jerk-limited or time-optimal positioning relative or absolute to a point of reference. It
provides the position controller and - to improve the dynamics - the speed controller also, with the setpoints.
In the case of absolute positioning a set target position is directly approached. In the case of relative positioning a
parameterized route is run. The positioning space of 2
32
full revolutions allows any number of relative positioning in one
direction.
The positioning control is parameterized via a target table. The target table includes entries for the parameterisation of a target
via a communication interface and also target positions, which can be retrieved via the digital inputs. For each entry it is
possible to set the positioning method, the driving profile, the acceleration and the deceleration times as well as the maximum
speed. All targets can be pre-parameterized. The only thing to do for positioning is then to select an entry and start the action.
It is also possible to change the target parameters online via the communication interface.
The item servo positioning controller C 1-Series provides 256 configurable positioning sets.
The following settings are possible for all positioning sets:
Target position
Driving speed
Final speed
Acceleration
Deceleration
Torque feed forward
Remaining distance trigger
Additional flags:
Relative / relative to last target / absolute
Wait for end / interrupt / ignore start
Synchronized
Rotary axis
Option: automatic deceleration in case of missing following positioning
Different options on the setup of path programs
The positioning sets can be activated via all bus systems or via the parameterisation software item Motion Soft
. The
positioning process can be controlled via digital inputs.
