The extension of the state diagram for mdi mode:
The activation of a new motion task (or traversing task), is done through a hand shake
algorithm. After setting the “Activate traversing task” bit 6 in STW1, the signals MDI_
TARPOS, MDI_VELOCITY, MDI_ACC, MDI_DEC and MDI_MOD with their current values
are loaded into the drive. The “Traversing Task Acknowledgment” bit 12 in ZSW1 indicates
the point in time, when the motion task is starting execution.
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Kollmorgen | December 2014
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