KEB COMBIVERT F5-A, Applications Manual, Page: 344 / 552

7.12.4.9 Posi mode / Positioning with set changeover
In the positioning blocks, only target position, profile speed, traversal manner, and sequence of the positionings
are stored. To reach the acceleration /, deceleration time and the S-curves, one must use various sets.
Before the start of a positioning, that set must be activated which contains the desired acceleration and jolt
values.
If positions are to be connected directly with certain profiles, the set-programmability of the parameter PS.28
can be utilised.
set-programmable parameters not set-programmable parameters
set PS.28 OP parameter PS.23 PS.24 PS.25 PS.26 PS.27
0 0 Ramps and S-curve times (A) 0 Position (A)
Profile speed (A)
-1 no
1 1 Ramps and S-curve times (B) 1 Position (B)
Profile speed (B)
-1 no
2 2 Ramps and S-curve times (C) 2 Position (C)
Profile speed (C)
-1 no
3 3 Ramps and S-curve times (D) 3 Position (D)
Profile speed (D)
-1 no
I.e., in the 4 sets used, the required acceleration and S-curve times are programmed. In each set, a different
index is parametrised as the starting index.
7.12.4.10 Posi mode / rotary table
The round table positioning allows positioning within 360°.
Parameter PS.39 "position range" defines the number of increments per one revolution of the rotary table. If
the position feedback is not connected to the round table but to the motor, the gear must also be considered.
Example:
The motor must execute 21 revolutions for the round table to complete one full revolution. Let the increments
per revolution of the incremental encoder on the motor be 2500 increments (parameter Ec.01) and in parameter
Ec.07 "multiple evaluation 1", the value 2 is: 4-fold programmed.
This results in:
PS.39 = 21 x 2500 x 2 2 = 210000
The actual position and the set point position vary only in a range of 0 to (PS.39 - 1).
Attention: Only positions from 0 to (PS.39 - 1) may be set as target position (PS.24).
Attention: The difference between set position and actual position may never be greater than PS.39/2, i.e., the
drive may not be blocked!
Page 7.12 - 52 COMBIVERT F5-A, -E, -H © KEB, 2012-10
Posi- and synchronous operating